Surgical robot system, control method, storage medium, and control device

Abstract

The invention provides a surgical robot system, a control method, a storage medium and a control device. The control method of the surgical robot system comprises the following steps: acquiring a first displacement of a current position of a second movable part relative to a first preset zero position; determining a target movement speed of the first movable part according to the first displacement; and controlling the first movable part to move at the target movement speed. According to the control method of the surgical robot system, the first movable part can rapidly track the second movable part, cooperative movement of the first movable part and the second movable part is achieved, the usability of the surgical robot is improved, a doctor can accurately and easily adjust the position of the operation arm to obtain the optimal surgical operation position, and the operation efficiency is improved. And the surgical operation is more stable and accurate.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly relates to a surgical robot system, a control method, a storage medium, and a control device. Background Art

[0002] With the progress of surgical techniques, surgical robots can assist surgeons in performing surgeries. Compared with traditional surgeries performed by doctors, surgical robots generally have advantages such as high flexibility, high precision, stable operation, resistance to radiation and infection, etc. Therefore, surgical robots are being used more and more widely.

[0003] However, the coordination between the lifting joints of traditional surgical robots is poor, and the adjustment arm of the surgical robot cannot meet the lifting adjustment range in actual use, resulting in inaccurate surgical operation positions. Summary of the Invention

[0004] The present application provides a surgical robot system, a control method, a storage medium, and a control device, which can improve the coordination between the lifting joints.

[0005] One aspect of the present application provides a control method for a surgical robot system. The surgical robot system includes a support device, an adjustment device provided on the support device, and an operation device connected to the adjustment device. The adjustment device includes a first movable part, a connection component, and a second movable part. The first movable part can move relative to the support device on a first straight line. The connection component is connected to the first movable part. The second movable part can move relative to the connection component on a second straight line. The operation device is connected to the second movable part. The second straight line is parallel to the first straight line. The second movable part has a first preset zero position determined relative to the connection component on the second straight line;

[0006] The control method includes:

[0007] Obtaining a first displacement of the current position of the second movable part relative to the first preset zero position;

[0008] Determining a target movement speed of the first movable part according to the first displacement;

[0009] Controlling the first movable part to move at the target movement speed.

[0010] The control method for the surgical robot system provided by the present application enables the first movable part to quickly track the second movable part, realizes the coordinated movement of the first movable part and the second movable part, improves the usability of the surgical robot, allows doctors to accurately and easily adjust the position of the operating arm to obtain the best surgical operation position, and makes the surgical operation more stable and precise.

[0011] Further, determining the target movement speed of the first movable part according to the first displacement includes:

[0012] If the magnitude of the first displacement is less than or equal to a preset tracking threshold, determine the target movement speed of the first movable part as a first movement speed, where the magnitude of the first movement speed is greater than or equal to 0, and when the first movement speed is greater than 0, the direction of the first movement speed is the same as the direction of the first displacement;

[0013] If the magnitude of the first displacement is greater than the preset tracking threshold, determine the target movement speed of the first movable part as a second movement speed, where the magnitude of the second movement speed is greater than the magnitude of the first movement speed, and the direction of the second movement speed is the same as the direction of the first displacement.

[0014] Further, determining the target movement speed of the first movable part according to the first displacement includes:

[0015] If the magnitude of the first displacement is less than or equal to a preset tracking threshold, determine the target movement speed of the first movable part as a first movement speed, where the magnitude of the first movement speed is greater than or equal to 0, and when the first movement speed is greater than 0, the direction of the first movement speed is the same as the direction of the first displacement;

[0016] If the magnitude of the first displacement is greater than the preset tracking threshold, map according to the magnitude of the first displacement to obtain the magnitude of the second movement speed of the first movable part, and determine the smaller value between the magnitude of the maximum limit speed of the first movable part and the magnitude of the second movement speed as the magnitude of the target movement speed of the first movable part, and determine the direction of the first displacement as the direction of the target movement speed.

[0017] Further, when the magnitude of the first displacement is greater than the preset tracking threshold, the magnitude of the second movement speed is positively correlated with the magnitude of the first displacement.

[0018] Further, the first movable part has a second preset zero position determined relative to the support device on the first straight line;

[0019] The control method further includes:

[0020] Obtain a second displacement of the current position of the first movable part relative to the second preset zero position;

[0021] Determine the magnitude of the maximum limit speed of the first movable part according to the second displacement.

[0022] Further, determining the magnitude of the maximum limit speed of the first movable part according to the second displacement includes:

[0023] If the magnitude of the second displacement is less than or equal to a first preset limit threshold, determining the magnitude of the preset maximum speed of the first movable part as the magnitude of the maximum limit speed of the first movable part.

[0024] Further, determining the magnitude of the maximum limit speed of the first movable part according to the second displacement includes:

[0025] If the magnitude of the second displacement is greater than the first preset limit threshold, mapping according to the magnitude of the second displacement to obtain the magnitude of the third movement speed of the first movable part, and determining the smaller value between the magnitude of the preset maximum speed of the first movable part and the magnitude of the third movement speed as the magnitude of the maximum limit speed of the first movable part.

[0026] Further, when the magnitude of the second displacement is greater than the first preset limit threshold, the magnitude of the third movement speed is negatively correlated with the magnitude of the second displacement.

[0027] Further, the surgical robot system further includes a force loading device for applying a force to the second movable part;

[0028] The control method further includes:

[0029] Determining the target force applied by the force loading device according to the first displacement;

[0030] Controlling the force loading device to apply the target force to the second movable part.

[0031] Further, determining the target force applied by the force loading device according to the first displacement includes:

[0032] If the magnitude of the first displacement is less than or equal to a second preset limit threshold, determining the target force to be 0;

[0033] If the magnitude of the first displacement is greater than the second preset limit threshold, determining the target force to be a first force, where the first force is greater than 0 and the direction of the first force is opposite to the direction of the first displacement.

[0034] Further, determining the target force applied by the force loading device according to the first displacement and the second preset limit threshold includes:

[0035] If the magnitude of the first displacement is less than or equal to the second preset limit threshold, determining the target force to be 0;

[0036] If the magnitude of the first displacement is greater than the second preset limit threshold, according to the magnitude of the first displacement, the magnitude of the first acting force of the force loading device is mapped, and the smaller value between the magnitude of the maximum acting force of the force loading device and the magnitude of the first acting force is determined as the magnitude of the target acting force, and the direction opposite to the direction of the first displacement is determined as the direction of the target acting force.

[0037] Further, when the magnitude of the first displacement is greater than the second preset limit threshold, the magnitude of the first acting force is positively correlated with the magnitude of the first displacement.

[0038] Another aspect of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above control method is implemented.

[0039] Another aspect of the present application provides a control device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the above control method is implemented.

[0040] Another aspect of the present application provides a surgical robot system, including:

[0041] A support device;

[0042] An adjustment device provided on the support device;

[0043] An operating device connected to the adjustment device, the adjustment device including a first movable part, a connecting component, and a second movable part, the first movable part being capable of moving relative to the support device on a first straight line, the connecting component being connected to the first movable part, the second movable part being capable of moving relative to the connecting component on a second straight line, the operating device being connected to the second movable part, the second straight line being parallel to the first straight line, and the second movable part having a first preset zero position determined relative to the connecting component on the second straight line; and

[0044] A control device communicating with the first movable part and the second movable part.

[0045] Further, it further includes a force loading device for applying an acting force to the second movable part; the control device communicates with the force loading device.

[0046] Further, the first movable part is connected to the support device through a first joint, and the first joint includes at least one linear joint and / or at least one rotary joint.

[0047] Further, the second movable part is connected to the connection component through a second joint, and the second joint includes at least one linear joint and / or at least one rotary joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0049] Figure 1 The figure shows a schematic structural diagram of an embodiment of the surgical robot system of the present application;

[0050] Figure 2 The figure shows a schematic flowchart of an embodiment of the control method of the surgical robot system of the present application;

[0051] Figure 3 As shown Figure 2 A schematic diagram of the functional relationship between the speed of the first movable part and the position of the second movable part of the shown control method;

[0052] Figure 4 The figure shows a schematic flowchart of another embodiment of the control method of the surgical robot system of the present application;

[0053] Figure 5 As shown Figure 4 A schematic diagram of the functional relationship between the maximum speed of the first movable part and the position of the first movable part of the shown control method;

[0054] Figure 6 The figure shows a schematic flowchart of another embodiment of the control method of the surgical robot system of the present application;

[0055] Figure 7 As shown Figure 6 A schematic diagram of the functional relationship between the force applied to the second movable part and the position of the second movable part of the shown control method. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0057] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application shall have the ordinary meanings as understood by those of ordinary skill in the art to which this application pertains. The terms "first", "second" and similar words used in the specification and claims of this application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "a" or "an" do not denote a quantity limitation, but mean that there is at least one. "Plurality" or "several" means at least two. Unless otherwise indicated, words such as "front", "rear", "lower" and / or "upper" are for convenience of description only and are not limited to a position or a spatial orientation. The words such as "comprising" or "including" mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The words such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0058] The singular forms of "a", "the" and "said" used in the specification and appended claims of this application are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0059] Compared with traditional doctor-operated surgeries, surgical robots generally have advantages such as high flexibility, high precision, stable operation, resistance to radiation and infection. Therefore, surgical robots are being applied more and more widely. Surgical robots can generally be divided into three parts: a base, an adjustment arm, and an operating arm. Among them, the base is responsible for the movement of the entire surgical robot and bears other parts of the surgical robot; the adjustment arm is responsible for moving the operating arm to a position suitable for surgical operations; the operating arm is responsible for performing surgical operations using surgical instruments. The adjustment arm is usually manually adjusted by a doctor or a nurse according to the target surgical position. During the adjustment process, in order to achieve higher precision and be more labor-saving, it is usually required that the adjustment arm mechanism has good back-driving ability, that is, small friction and inertia.

[0060] The adjustment arm is mostly adjusted in height through a single lifting mechanism arranged on the base, and this lifting mechanism is usually the first joint of the surgical robot. In some application scenarios, in order to achieve sufficient degrees of freedom for spatial adjustment, a robotic arm with multiple joint degrees of freedom is usually connected behind the lifting mechanism. Usually, the lifting mechanism is connected to planar joints with multiple degrees of freedom to achieve position adjustment of the operating arm on the horizontal plane and rotation around the axis perpendicular to the ground. The planar joints are further connected to one or more joints (also known as the attitude adjustment mechanism) responsible for adjusting the rotation around other axes to adjust the angle of the operating arm. However, as the first joint of the surgical robot, the single lifting joint needs to bear all the weights connected to its distal end. Therefore, this lifting joint needs to be designed to meet the requirement of bearing a large load capacity. Looking from the distal end of the surgical robot, the proximal lifting joint usually has a large inertia and friction, which is not conducive to the doctor accurately and easily adjusting the position of the operating arm.

[0061] The surgical robot system, control method, storage medium, and control device of the present application will be described in detail below with reference to the accompanying drawings. Without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0062] Figure 1 The figure shows a schematic structural diagram of an embodiment of the surgical robot system 100 of the present application. The surgical robot system 100 of the embodiment of the present application includes a support device 110, an adjustment device 120 provided on the support device 110, an operating device 130 connected to the adjustment device 120, and a control device (not shown). The adjustment device 120 includes a first movable part 121, a connection component 122, and a second movable part 124. The first movable part 121 can move relative to the support device 110 on a first straight line. The connection component 122 is connected to the first movable part 121. The second movable part 124 can move relative to the connection component 122 on a second straight line. The operating device 130 is connected to the second movable part 124, and the second straight line is parallel to the first straight line. The control device communicates with the first movable part 121 and the second movable part 124.

[0063] It should be noted that, in Figure 1 the application scenario shown, the first straight line is Figure 1 the A - A straight line shown in Figure 1 and the second straight line is the B - B straight line shown in

[0064] The second movable part 124 has a first preset zero position determined relative to the connecting component 122 on the second straight line. Generally speaking, the first preset zero position is located at a certain point within the movement stroke range of the second movable part 124, and can be determined in advance according to application requirements and usage experience. Optionally, the first preset zero position can be located at the midpoint of the movement stroke range of the second movable part 124, or other points close to the midpoint. For example, the ratio of the distance between the first preset zero position and the midpoint to the total length of the movement stroke range of the second movable part 124 is less than or equal to 3%, 5%, or 10%, etc. Among them, the movement stroke range of the second movable part 124 represents the maximum movement range of the second movable part 124, and can be represented by

[0065] [-d 124_max ,d 124_max . The movement stroke range of the second movable part 124 can be equal to or slightly smaller than the mechanical limit range at both ends of the second movable part 124.

[0066] The first movable part 121 has a second preset zero position determined relative to the support device 110 on the first straight line. Generally speaking, the second preset zero position is located at a certain point within the movement stroke range of the first movable part 121, and can be determined in advance according to application requirements and usage experience. Optionally, the second preset zero position can be located at the midpoint of the movement stroke range of the first movable part 121, or other points close to the midpoint. For example, the ratio of the distance between the first preset zero position and the midpoint to the total length of the movement stroke range of the first movable part 121 is less than or equal to 3%, 5%, or 10%, etc. Among them, the movement stroke range of the first movable part 121 represents the maximum movement range of the first movable part 121, and can be represented by

[0067] [-d 121_max ,d 121_max . The movement stroke range of the first movable part 121 can be equal to or slightly smaller than the mechanical limit range at both ends of the first movable part 121.

[0068] Generally speaking, the movement stroke range of the movable part is determined. Correspondingly, the first preset zero position of the second movable part 124 and the second preset zero position of the first movable part 121 are also relatively determined. When the movement stroke range of the movable part remains unchanged, within at least one measurement period, the first preset zero position of the second movable part 124 is constant relative to the connecting component 122 on the second straight line, and the second preset zero position of the first movable part 121 is constant relative to the support device 110 on the first straight line.

[0069] Specifically, the adjustment device 120 includes a first movable part 121, a connection component 122, and a second movable part 124 in sequence from the proximal end to the distal end. The support device 110 may include a base. A driving device (not shown), such as a motor, for driving the movement of the first movable part 121 and a guiding device (not shown), such as a guide rail, for guiding the movement of the first movable part 121 may be provided on the base. The connection component 122 may include a planar adjustment mechanism. The planar adjustment mechanism is a planar joint with multiple degrees of freedom and can achieve the position adjustment of the operating device 130 on a certain plane and / or the rotation around a rotation axis perpendicular to the plane. In one example, as Figure 1 shown, the above-mentioned plane may be parallel to the horizontal plane. In other examples not shown, the above-mentioned plane may also form a certain angle with the horizontal plane. The multiple planar joints may include multiple rotational or linear motion joints or a combination of rotational and linear motion joints, and may be active joints (driven by power) or passive joints (not driven by power). The operating device 130 may include an operating arm for holding a surgical instrument to perform a surgical operation.

[0070] In some application scenarios, such as Figure 1 shown, the first movable part 121 is connected to the support device 110 through a linear joint to achieve the linear motion of the first movable part 121 relative to the support device 110 along a first straight line. Since the first movable part 121 needs to bear a large load, using a single linear joint can improve the stability of the movement of the first movable part 121, and at the same time can reduce the occupied space of the joint and the control difficulty. However, it can be understood that in other application scenarios, the first movable part 121 can also achieve the linear motion relative to the support device 110 along the first straight line through the coordinated movement of multiple degrees of freedom. The coordinated movement of multiple degrees of freedom can be achieved through two or more joints. The joints can be linear joints, or rotational joints, or a combination of both, as long as the linear motion of the first movable part 121 relative to the support device 110 can be achieved. For example, the first movable part is connected to the support device 110 through two or more linear joints.

[0071] In some application scenarios, such as Figure 1As shown, the second movable part 124 is connected to the connecting component 122 through a linear joint to enable the second movable part 124 to move relative to the connecting component 122 along a second straight line. However, it can be understood that in other application scenarios, due to the need for more flexibility of the second movable part 124, the second movable part 124 can also move relative to the connecting component 122 along the second straight line through the coordinated movement of multiple degrees of freedom. The coordinated movement of multiple degrees of freedom can be achieved through two or more joints, and the joints can be linear joints, or rotational joints, or a combination of both, as long as the second movable part 124 can move relative to the connecting component 122 along the second straight line. For example, the second movable part 124 is connected to the support device 110 through multiple rotational joints (for example, three or more), and the rotation axes of the multiple rotational joints are parallel to each other.

[0072] In some embodiments, the adjustment device 120 may further include an attitude adjustment part 123 at the outermost end, and the operating device 130 is connected to the second movable part 124 through the attitude adjustment part 123. The attitude adjustment part 123 may include one or more non-coaxial rotary joints, which can rotate around their respective rotation axes to adjust the angle of the operating device 130.

[0073] It can be understood that the adjustment device 120 is usually manually adjusted by a doctor or a nurse according to the target surgical position. During the adjustment process, in order to achieve higher accuracy and less effort, the adjustment device 120 usually needs to have better backdriving ability, that is, smaller friction and inertia during the movement process. For the joint where the first movable part 121 is located, since the first movable part 121 needs to bear the large load generated by the adjustment device 120 and the operating device 130, it is difficult to meet the requirement of high backdriving ability. While the second movable part 124 only needs to bear the load generated by the attitude adjustment part 123 and the operating device 130, so it only needs to meet a smaller load capacity. In this way, on the one hand, it is easier for the joint where the second movable part 124 is located to achieve smaller friction, and on the other hand, when adjusting the distal operating arm, only the inertia of the operating device 130 and the attitude adjustment part 123 needs to be overcome, reducing the overall lifting and adjustment inertia, which is beneficial to achieving greater backdriving ability and at the same time reducing the requirement for the backdriving ability of the joint where the first movable part 121 is located. Therefore, the setting of the two parallel moving movable parts in the embodiments of the present application is beneficial to improving the backdriving ability of the adjustment device 120 in the straight-line movement direction during the distal operation of the surgical robot, reducing friction and inertia, and can improve the operation accuracy, reduce the operation force and operation time, and improve the usability of the surgical robot system 100.

[0074] When the above two parallel straight-line movement directions form a certain angle with the horizontal direction (at Figure 1As shown, it is parallel to the vertical direction), and each can also be provided with a gravity compensation mechanism (not shown) for compensating the gravity of its respective movable part and other structures associated therewith. In some examples, the gravity compensation mechanism can be implemented by a motor, a constant force spring, a counterweight, or any combination thereof. For the joint where the first movable part 121 is located, the gravity compensation mechanism can reduce the burden on the driving device, which helps to improve the motion control accuracy and motion smoothness of the first movable part 121. For the joint where the second movable part 124 is located, the gravity compensation mechanism can reduce the burden on the user to move the second movable part 124. The user only needs to apply a small braking force to move the second movable part 124, without having to overcome the gravity of the second movable part 124 and other structures connected to its end. Moreover, when no external force is applied, the second movable part 124 can be in neutral equilibrium.

[0075] In some embodiments, the surgical robot system 100 further includes a force loading device (not shown). The force loading device applies a force to the second movable part 124, and the control device communicates with the force loading device. The force applied by the force loading device to the second movable part 124 is related to the position of the second movable part 124 relative to the connecting assembly 122, or rather, related to the displacement of the current position of the second movable part 124 relative to the first preset zero position, for implementing the "virtual wall" function to prevent the second movable part 124 from hitting its mechanical limit. In one example, the direction of the force is opposite to the direction of the displacement of the current position of the second movable part 124 relative to the first preset zero position, and the magnitude of the force increases as the magnitude of the displacement increases. Optionally, the force loading device can include a brake or a reverse motor.

[0076] It should be noted that, in this application, the terms "distal end" and "proximal end" are used as orientation terms, where the "distal end" refers to the end far from the above-mentioned support device 110, and the "proximal end" refers to the end close to the support device 110.

[0077] In Figure 1 In the application scenario shown, it can be understood that since the distal end of the adjustment device 120 is closer to the target surgical position, the smaller-sized second movable part 124 can reduce the space occupation near the target surgical position. Therefore, the second movable part 124 can be designed to be as small as possible. However, the lifting stroke of only the miniaturized second movable part 124 may not be able to meet the entire motion range of the lifting adjustment (including all application scenarios such as transportation and surgery) in actual use. Therefore, the coordinated movement of the first movable part 121 and the second movable part 124 is required to achieve the lifting motion range that meets all application scenarios. To achieve the coordinated movement of the first movable part 121 and the second movable part 124, this application provides a control method for the surgical robot system 100.

[0078] Figure 2The figure shows a schematic flowchart of an embodiment of the control method of the surgical robot system 100 of the present application. The control method of the surgical robot system 100 in the embodiment of the present application includes steps S100 to S300:

[0079] In step S100, obtain a first displacement of the current position of the second movable part 124 relative to the first preset zero position.

[0080] In step S200, determine the target movement speed of the first movable part 121 according to the first displacement.

[0081] In step S300, control the first movable part 121 to move at the target movement speed.

[0082] The control method of the surgical robot system 100 in the embodiment of the present application enables the first movable part 121 to quickly track the second movable part 124, realizes the coordinated movement of the first movable part 121 and the second movable part 124, improves the usability of the surgical robot, and enables the doctor to accurately and easily adjust the position of the operating arm to obtain the best surgical operation position, making the surgical operation more stable and accurate.

[0083] It can be understood that both the first displacement and the target movement speed are vectors, including magnitude and direction. In step S200, the magnitude and direction of the target movement speed of the first movable part 121 can be determined according to the magnitude and direction of the first displacement.

[0084] Based on the above embodiment, step S200 of the control method of the present application may include step S210:

[0085] In step S210, if the magnitude of the first displacement is less than or equal to a preset tracking threshold, determine the target movement speed of the first movable part 121 as the first movement speed.

[0086] Wherein, the magnitude of the first movement speed is greater than or equal to 0. When the first movement speed is greater than 0, the direction of the first movement speed is the same as the direction of the first displacement.

[0087] It can be understood that the preset tracking threshold is less than the movement stroke range of the second movable part 124, and the preset tracking threshold can be estimated according to application requirements and usage experience, which is not limited in the present application.

[0088] When the magnitude of the first movement speed of the first movable part 121 is set to 0, it means that when the second movable part 124 is manually moved within the preset tracking threshold, the position of the first movable part 121 remains unchanged to prevent the frequent movement of the first movable part 121.

[0089] When the magnitude of the first movement speed of the first movable part 121 is set to be greater than 0, the movement direction of the first movable part 121 is the same as that of the second movable part 124. When the second movable part 124 is manually moved within the preset tracking threshold, the first movable part 121 tracks the second movable part 124 at a smaller speed, and the connecting component 122 moves with the first movable part 121, so that the position where the second movable part 124 finally stops is close to the first preset zero position. Thus, when the second movable part 124 is manually moved next time, it has a larger movement range in both opposite movement directions.

[0090] Further, step S220 may further be included in step S200 of the control method of the present application:

[0091] In step S220, if the magnitude of the first displacement is greater than the preset tracking threshold, determine that the target movement speed of the first movable part is the second movement speed.

[0092] Wherein, the magnitude of the second movement speed is greater than that of the first movement speed, and the direction of the second movement speed is the same as that of the first displacement.

[0093] The direction of the first displacement represents the movement direction of the second movable part 124, and the movement direction of the first movable part 121 needs to be the same as it. The magnitude of the second movement speed is greater than that of the first movement speed, so that when the second movable part 124 is manually moved outside the preset tracking threshold, the first movable part 121 can track the second movable part 124 at a faster speed. The connecting component 122 moves with the first movable part 121, so that the magnitude of the displacement of the position where the second movable part 124 finally stops relative to the first preset zero position returns to within the preset tracking threshold.

[0094] Optionally, the above step S220 may be replaced by step S220':

[0095] In step S220', if the magnitude of the first displacement is greater than the preset tracking threshold, according to the magnitude of the first displacement, map to obtain the magnitude of the second movement speed of the first movable part 121, and determine the smaller value of the magnitude of the maximum limit speed of the first movable part 121 and the magnitude of the second movement speed as the magnitude of the target movement speed of the first movable part 121, and determine the direction of the first displacement as the direction of the target movement speed.

[0096] Determine the magnitude of the movement speed of the first movable part 121 according to the magnitude of the movement displacement of the second movable part 124, so as to make the control of the coordinated movement of the first movable part 121 and the second movable part 124 more precise.

[0097] In a specific example, such as Figure 3 shown, for Figure 2Schematic diagram of the functional relationship between the speed of the first movable part 121 and the position of the second movable part 124 of the control method shown. Figure 3 As shown, the 0 coordinate represents the first preset zero position of the second movable portion 124, d 124 represents the second displacement of the second movable portion 124, d 124_1 Indicates the preset tracking threshold, d 124_1 and -d 124_1 Same size, opposite direction; v 121 represents the target motion speed of the first movable part 121; v 121_max represents the maximum speed limit of the first movable part 121, v 121_max and -v 121_max The same size and opposite direction. Generally speaking, the preset tracking threshold d 124_1 Greater than 0. In the second movable portion 124 Figure 3 The preset tracking threshold is shown, that is, in [-d 124_1 , d 124_1 ] interval, the position of the first movable portion 121 remains unchanged; Figure 3 Within the preset tracking threshold, the first movable portion 121 needs to track the movement of the second movable portion 124 .

[0098] Please refer to Figure 3 , v 121 and d 124 The specific functional relationship is as follows:

[0099]

[0100] Among them, f 1 (d 124 -d 124_1 ) and f 2 (d 124 +d 124_1 ) means d 124 A second motion speed in a different domain, and the two may be rotationally symmetric.

[0101] Based on the above embodiments, Figure 3 As shown, when the magnitude of the first displacement is greater than the preset tracking threshold, the magnitude of the second motion speed is positively correlated with the magnitude of the first displacement, that is, f 1 (d 124 -d 124_1 ) and f 2 (d 124 +d 124_1)Both can be increasing functions. That is, within a certain range, the larger the magnitude of the first displacement, the larger the magnitude of the second movement speed, so that when the second movable part 124 moves to a farther position, the first movable part 121 can track the second movable part 124 at a faster speed, and thus the time for the second movable part 124 to return within the preset tracking threshold is shorter.

[0102] In a specific example, f 1 (d 124 -d 124_1 ) can be expressed as k 1 (d 124 -d 124_1 ),f 2 (d 124 +d 124_1 ) can be expressed as k 1 (d 124 +d 124_1 ),which can be seen in detail in Figure 3 . Among them, k 1 represents the proportionality coefficient of the first displacement of the second movable part 124 mapped to the target movement speed of the first movable part 121; of course, f 1 (d 124 -d 124_1 ) and f 2 (d 124 +d 124_1 ) can also be power functions, logarithmic functions or other functions, or composite functions including at least one of these functions, which are not limited in this application.

[0103] Figure 4 The following shows a schematic flowchart of another embodiment of the control method of the surgical robot system 100 of the present application. In some embodiments, the control method of the present application may further include steps S400 to S500 before step S200:

[0104] In step S400, obtain the second displacement of the current position of the first movable part 121 relative to the second preset zero position.

[0105] In step S500, determine the magnitude of the maximum limit speed of the first movable part 121 according to the second displacement.

[0106] In this embodiment, through steps S400 and S500, the maximum limit speed of the first movable part 121 can be adjusted according to the position of the first movable part 121 relative to the support device 110.

[0107] It can be understood that both the second displacement and the maximum limit speed are vectors, including magnitude and direction. Through step S500, the magnitude of the maximum limit speed of the first movable part 121 can be determined, and its direction is the same as the direction of the second displacement.

[0108] Based on the above embodiments, step S500 of the control method of the present application may include step S510:

[0109] In step S510, if the magnitude of the second displacement is less than or equal to the first preset limit threshold, the magnitude of the preset maximum speed of the first movable part 121 is determined as the magnitude of the maximum limit speed of the first movable part 121.

[0110] The first preset limit threshold is less than the movement stroke range of the first movable part 121. The first preset limit threshold can be estimated according to application requirements and usage experience, and the present application does not make any restrictions.

[0111] It is possible to set the movement stroke range of the first movable part 121 to be slightly smaller than the mechanical limit range at both ends of the first movable part 121, that is, a certain margin is reserved to further reduce the risk of the first movable part 121 hitting the mechanical limit.

[0112] In this embodiment, the maximum limit speed of the first movable part 121 is its preset maximum speed. The preset maximum speed can be determined according to application requirements and usage experience, but cannot exceed the maximum speed that the first movable part 121 can physically reach.

[0113] Furthermore, step S500 of the control method of the present application may further include step S520:

[0114] In step S520, if the magnitude of the second displacement is greater than the first preset limit threshold, according to the magnitude of the second displacement, the magnitude of the third movement speed of the first movable part 121 is mapped, and the smaller value between the magnitude of the theoretical maximum speed of the first movable part 121 and the magnitude of the third movement speed is determined as the magnitude of the maximum limit speed of the first movable part 121.

[0115] In step S520 of this embodiment, speed limitation is performed near the mechanical limits at both ends of the first movable part 121 to avoid the first movable part 121 hitting its mechanical limit during the collaborative movement process, and to improve the safety of the surgical robot system 100.

[0116] In a specific example, as Figure 5 shown, it is Figure 4 a schematic diagram of the functional relationship between the maximum limit speed of the first movable part 121 and the position of the first movable part 121 of the control method shown. As Figure 5 shown, the 0 coordinate represents the second preset zero position of the first movable part 121, d 121 represents the second displacement of the first movable part 121; d 121_1 represents the first preset limit threshold, d 121_1 and -d 121_1Same in size and opposite in direction. Generally, the first preset limit threshold d 121_1 is greater than 0. When the first movable part 121 is within Figure 5 the first preset limit threshold shown, that is, within the interval [-d 121_1 , d 121_1 , the first movable part 121 can reach its preset maximum limit speed; when the first movable part 121 is not within Figure 5 the first preset limit threshold shown, the upper limit of the speed that the first movable part 121 can reach is a speed magnitude less than the preset maximum limit speed of the first movable part 121.

[0117] Please refer to Figure 5 , v 121_max and d 121 for the specific functional relationship as follows:

[0118]

[0119] Among them, v′ 121_max represents the preset maximum limit speed of the first movable part 121, and f 3 (d 121 -d 121_1 ) and f 4 (d 121 +d 121_1 ) represent the third motion speed of d 121 under different domains, and the two can be symmetric about the y-axis.

[0120] Based on the above embodiments, as Figure 5 shown, when the magnitude of the second displacement is greater than the first preset limit threshold, the magnitude of the third motion speed is negatively correlated with the magnitude of the second displacement, that is, f 3 (d 121 -d 121_1 ) can be a decreasing function in the first quadrant, and f 4 (d 121 +d 121_1 ) can be an increasing function in the second quadrant. That is to say, the closer the position of the first movable part 121 is to the mechanical limit position, the smaller the maximum limit speed of the first movable part 121, so that the motion speed of the first movable part 121 is smaller, further improving the safety of the surgical robot system 100.

[0121] In a specific example, f 3 (d 121 -d 121_1 ) can be expressed as k 2 (d 121 -d 121_1 ), f 4 (d 121 +d121_1 ) can be expressed as -k 2 (d 121 +d 121_1 ), where k 2 is the proportionality coefficient of the second displacement of the first movable part 121 mapped to the maximum limit speed of the first movable part 121; of course, it can also be a power function, a logarithmic function or other functions, or a composite function in the form of a composite function including at least one of these functions, which is not limited in this application.

[0122] According to Figure 5 it can be known that when the first movable part 121 reaches the end point of the movement stroke range, its maximum limit speed is 0.

[0123] Figure 6 The figure shows a schematic flow chart of another embodiment of the control method of the surgical robot system 100 of the present application. In some embodiments, the control method of the present application may further include steps S600 to S700:

[0124] In step S600, according to the first displacement, determine the target acting force applied by the force loading device.

[0125] In step S700, control the force loading device to apply the target acting force to the second movable part 124.

[0126] In this embodiment, by applying the target acting force to the second movable part 124, the speed of the second movable part 124 near its two mechanical limit positions can be reduced, and the "virtual wall" function can be realized to prevent the second movable part 124 from hitting its mechanical limit.

[0127] It can be understood that the target acting force is a vector, including magnitude and direction. In step S700, the magnitude and direction of the target acting force can be determined according to the magnitude and direction of the first displacement. The direction of the target acting force can be opposite to the movement direction of the second movable part 124 to realize the above "virtual wall" function.

[0128] Based on the above embodiments, step S600 of the control method of the present application may include step S610:

[0129] In step S610, if the magnitude of the first displacement is less than or equal to the second preset limit threshold, determine that the target acting force is 0.

[0130] It can be understood that the second preset limit threshold is less than the movement stroke range of the second movable part 124, which can be estimated according to application requirements and usage experience, and this application does not make restrictions. Optionally, the second preset limit threshold is greater than or equal to the preset tracking threshold. Since the second movable part 124 needs to be manually moved by the user and a gravity compensation mechanism is provided inside it, so that the user only needs to apply a small braking force to move the second movable part 124. If the "virtual wall" function is enabled within the preset tracking threshold, it will increase the burden on the user to move the second movable part 124. Therefore, considering the actual operation and user experience, the second preset limit threshold is made greater than or equal to the preset tracking threshold.

[0131] In step S610 of this embodiment, the target acting force is 0, which means that when the second movable part 124 is manually moved within the second preset limit threshold, the acting force applied by the force loading device to the second movable part 124 is 0. At this time, there is no need to turn on the "virtual wall" to reduce the moving speed of the second movable part 124.

[0132] Further, step S600 of the control method of this application may further include step S620:

[0133] In step S620, if the magnitude of the first displacement is greater than the second preset limit threshold, it is determined that the target acting force is the first acting force.

[0134] Wherein, the first acting force is greater than 0, and the direction of the first acting force is opposite to the direction of the first displacement.

[0135] In step S620 of this embodiment, the target acting force is greater than 0, which means that when the second movable part 124 is manually moved outside the second preset limit threshold, the force loading device applies a certain acting force to the second movable part 124, that is, the "virtual wall" is turned on to reduce the moving speed of the second movable part 124.

[0136] Optionally, the above step S620 may be replaced by step S620':

[0137] In step S620', if the magnitude of the first displacement is greater than the second preset limit threshold, according to the magnitude of the first displacement, the magnitude of the first acting force of the force loading device is mapped, and the smaller value of the magnitude of the maximum acting force of the force loading device and the magnitude of the first acting force is determined as the magnitude of the target acting force, and the direction opposite to the direction of the first displacement is determined as the direction of the target acting force.

[0138] Determining the magnitude of the target acting force according to the magnitude of the movement displacement of the second movable part 124 can achieve more precise control, so as to prevent the second movable part 124 from hitting its mechanical limit while avoiding excessive burden on the user to move the second movable part 124.

[0139] In a specific example, Figure 7 As shown, Figure 6 Schematic diagram of the functional relationship between the force applied to the second movable part 124 and the position of the second movable part 124 of the control method shown. Figure 7 As shown, the 0 coordinate represents the first preset zero position of the second movable portion 124, d 124 represents the second displacement of the second movable portion 124, d 124_2 Indicates the second preset limit threshold, d 124_2 and -d 124_2 Same size, opposite direction; f 124 represents the target force applied by the force loading device to the second movable part 124; f 124_max Indicates the maximum force that the force loading device can output, f 124_max and -f 124_max It can be understood that, in theory, the smaller the distance between the second movable portion 124 and its mechanical limit position, the greater the force required to prevent it from hitting the mechanical limit position, so f 124_max Indicates the maximum braking force of the brake or reverse motor. Generally speaking, the second preset limit threshold d 124_2 Greater than 0. In the second movable portion 124 Figure 7 The second preset limit threshold is within the range [-d 124_2 , d 124_2 ] interval, the target force output by the force loading device remains unchanged, which is 0; at the second movable part 124 Figure 7 Within the second preset limit threshold shown, the target force output by the force loading device changes with the first displacement of the second movable portion 124 .

[0140] Please refer to Figure 7 , f 124 and d 124 The specific functional relationship is as follows:

[0141]

[0142] Among them, f 5 (d 124_2 -d 124 ) and f 6 (d 124 +d 124_2 ) means d 124 The first forces are in different domains, and the two can be rotationally symmetric.

[0143] On the basis of the above embodiment, when the magnitude of the first displacement is greater than the second preset limit threshold, the magnitude of the first force is positively correlated with the magnitude of the first displacement, such as Figure 7As shown, i.e., f 5 (d 124_2 -d 124 ) and f 6 (d 124 +d 124_2 ) can both be decreasing functions. That is to say, within a certain range, the larger the magnitude of the first displacement, the larger the magnitude of the first acting force. So that when the second movable part 124 moves to a farther position, the force loading device can apply a greater acting force to the second movable part 124. Therefore, the closer the second movable part 124 is to the end point, the greater its movement resistance, which is more conducive to reducing its speed magnitude.

[0144] In a specific example, f 5 (d 124_2 -d 124 ) can be expressed as k 3 (d 124_2 -d 124 ), f 6 (d 124 +d 124_2 ) can be expressed as k 3 (-d 124 -d 124_2 ). For details, see Figure 7 . Among them, k 3 represents the proportionality coefficient that maps the first displacement of the second movable part 124 to the target acting force. Of course, f 5 (d 124_2 -d 124 ) and f 6 (d 124 +d 124_2 ) can also be power functions, logarithmic functions or other functions, or composite functions including at least one of these functions. This application does not make any restrictions.

[0145] The computer-readable storage medium of the embodiment of the present application stores a computer program. When the computer program is executed by a processor, it implements the control method of the surgical robot system.

[0146] A computer-readable medium includes permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0147] The control device of the embodiment of the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method of the surgical robot system.

[0148] The control device can be implemented in any suitable manner. For example, the control device can take the form of, for example, a microprocessor or a processor, and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuit (ASIC), programmable logic controller, and embedded microcontroller.

[0149] For the method embodiment, since it basically corresponds to the device embodiment, the relevant parts can be referred to the description of the device embodiment. The method embodiment and the device embodiment complement each other.

[0150] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A control method for a surgical robot system, characterized in that, the surgical robot system includes a support device, an adjustment device provided on the support device, and an operation device connected to the adjustment device. The adjustment device includes a first movable part, a connection component, and a second movable part. The first movable part can move relative to the support device on a first straight line. The connection component is connected to the first movable part. The second movable part can move relative to the connection component on a second straight line. The operation device is connected to the second movable part. The second straight line is parallel to the first straight line. The second movable part has a first preset zero position determined relative to the connection component on the second straight line; the control method includes: obtaining a first displacement of the current position of the second movable part relative to the first preset zero position; determining a target movement speed of the first movable part according to the first displacement; controlling the first movable part to move at the target movement speed.

2. The control method according to claim 1, characterized in that, the determining the target movement speed of the first movable part according to the first displacement includes: if the magnitude of the first displacement is less than or equal to a preset tracking threshold, determining the target movement speed of the first movable part as a first movement speed, where the magnitude of the first movement speed is greater than or equal to 0, and when the first movement speed is greater than 0, the direction of the first movement speed is the same as the direction of the first displacement; if the magnitude of the first displacement is greater than the preset tracking threshold, determining the target movement speed of the first movable part as a second movement speed, where the magnitude of the second movement speed is greater than the magnitude of the first movement speed, and the direction of the second movement speed is the same as the direction of the first displacement.

3. The control method according to claim 1, characterized in that, the determining the target movement speed of the first movable part according to the first displacement includes: if the magnitude of the first displacement is less than or equal to a preset tracking threshold, determining the target movement speed of the first movable part as a first movement speed, where the magnitude of the first movement speed is greater than or equal to 0, and when the first movement speed is greater than 0, the direction of the first movement speed is the same as the direction of the first displacement; if the magnitude of the first displacement is greater than the preset tracking threshold, mapping to obtain the magnitude of the second movement speed of the first movable part according to the magnitude of the first displacement, and determining the smaller value between the magnitude of the maximum limit speed of the first movable part and the magnitude of the second movement speed as the magnitude of the target movement speed of the first movable part, and determining the direction of the first displacement as the direction of the target movement speed.

4. The control method according to claim 3, characterized in that, when the magnitude of the first displacement is greater than the preset tracking threshold, the magnitude of the second movement speed is positively correlated with the magnitude of the first displacement.

5. The control method according to claim 3, characterized in that, The first movable part has a second preset zero position determined relative to the support device on the first straight line; The control method further includes: Obtaining a second displacement of the current position of the first movable part relative to the second preset zero position; Determining the magnitude of the maximum limit speed of the first movable part according to the second displacement.

6. The control method according to claim 5, wherein, The determining the magnitude of the maximum limit speed of the first movable part according to the second displacement includes: If the magnitude of the second displacement is less than or equal to a first preset limit threshold, determining the magnitude of the preset maximum speed of the first movable part as the magnitude of the maximum limit speed of the first movable part.

7. The control method according to claim 5, wherein, The determining the magnitude of the maximum limit speed of the first movable part according to the second displacement includes: If the magnitude of the second displacement is greater than the first preset limit threshold, mapping to obtain the magnitude of a third movement speed of the first movable part according to the magnitude of the second displacement, and determining the smaller value between the magnitude of the preset maximum speed of the first movable part and the magnitude of the third movement speed as the magnitude of the maximum limit speed of the first movable part.

8. The control method according to claim 7, wherein, When the magnitude of the second displacement is greater than the first preset limit threshold, the magnitude of the third movement speed is negatively correlated with the magnitude of the second displacement.

9. The control method according to any one of claims 1 to 8, wherein, The surgical robot system further includes a force loading device for applying a force to the second movable part; The control method further includes: Determining a target force applied by the force loading device according to the first displacement; Controlling the force loading device to apply the target force to the second movable part.

10. The control method according to claim 9, wherein, The determining the target force applied by the force loading device according to the first displacement includes: If the magnitude of the first displacement is less than or equal to a second preset limit threshold, determining the target force as 0; If the magnitude of the first displacement is greater than the second preset limit threshold, determining the target force as a first force, wherein the first force is greater than 0 and the direction of the first force is opposite to the direction of the first displacement.

11. The control method according to claim 9, wherein, The determining the target force applied by the force loading device according to the first displacement and the second preset limit threshold includes: If the magnitude of the first displacement is less than or equal to the second preset limit threshold, determining the target force as 0; If the magnitude of the first displacement is greater than the second preset limit threshold, according to the magnitude of the first displacement, the magnitude of the first acting force of the force loading device is mapped, and the smaller value between the magnitude of the maximum acting force of the force loading device and the magnitude of the first acting force is determined as the magnitude of the target acting force, and the direction opposite to the direction of the first displacement is determined as the direction of the target acting force.

12. The control method according to claim 11, wherein, when the magnitude of the first displacement is greater than the second preset limit threshold, the magnitude of the first acting force is positively correlated with the magnitude of the first displacement.

13. A computer-readable storage medium, wherein, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method according to any one of claims 1-12 above is implemented.

14. A control device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the program, the control method according to any one of claims 1-12 above is implemented.

15. A surgical robot system, wherein, comprising: a support device; an adjustment device provided on the support device; an operating device connected to the adjustment device, the adjustment device includes a first movable part, a connecting component, and a second movable part, the first movable part can move relative to the support device on a first straight line, the connecting component is connected to the first movable part, the second movable part can move relative to the connecting component on a second straight line, the operating device is connected to the second movable part, the second straight line is parallel to the first straight line, and the second movable part has a first preset zero position determined relative to the connecting component on the second straight line; and the control device according to claim 14, the control device communicates with the first movable part and the second movable part.

16. The surgical robot system according to claim 15, wherein, further comprising a force loading device for applying a force to the second movable part; the control device communicates with the force loading device.

17. The surgical robot system according to claim 15, wherein, the first movable part is connected to the support device through a first joint, and the first joint includes at least one linear joint and / or at least one rotary joint.

18. The surgical robot system according to claim 15, wherein, the second movable part is connected to the connecting component through a second joint, and the second joint includes at least one linear joint and / or at least one rotary joint.

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