Motion control method of robot system, surgical robot, and storage medium

Abstract

The invention relates to the field of medical instruments, and discloses a motion control method of a robot system, a surgical robot and a storage medium. A motion control method of a robot system includes a mobile station including at least one motion arm and a master station including at least one master manipulator, the motion control method of the robot system including: receiving master manipulator operation information corresponding to an operation action on the at least one master manipulator from the at least one master manipulator; and controlling the movement of the mobile station or the movement arm based on the main operator operation information. By means of the motion control method of the robot system, a user can control the movement of the mobile station or the movement arm by operating the main operator.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular, to a motion control method for a robotic system, a surgical robot, and a storage medium. Background Art

[0002] Laparoscopic surgery is a surgical form that has gradually developed and been widely used in recent years. It has advantages such as small incisions, greatly reducing the patient's recovery time, discomfort experience, and postoperative side effects. Performing laparoscopic surgery, especially single-port laparoscopic surgery, with a surgical robot can optimize the surgical form through computer remote control technology.

[0003] During the preoperative preparation process of performing surgery using a surgical robot system, it is necessary to move the mobile station to a pose suitable for performing surgery in front of the operating table and, according to the type of surgery, surgical location, etc., move at least one robotic arm to a suitable position so that at least one robotic arm can be connected to the sheath tube, and the surgical instrument carried by the robotic arm can enter the corresponding position in the human body that requires surgery through the sheath tube.

[0004] During the preoperative preparation process or during the surgery process, it is usually difficult to directly move the position and posture of the mobile station and the robotic arm to a position and posture suitable for performing surgery. Summary of the Invention

[0005] In some embodiments, the present disclosure provides a motion control method for a robotic system. The robotic system includes a mobile station and a main control station. The mobile station includes at least one robotic arm, and the main control station includes at least one master operator. The control method includes:

[0006] Receiving master operator operation information corresponding to an operation action on at least one master operator from at least one master operator; and

[0007] Controlling the movement of the mobile station or the robotic arm based on the master operator operation information.

[0008] In some embodiments, the present disclosure provides a surgical robot, including:

[0009] A mobile station, including:

[0010] At least one robotic arm, which is movably arranged on the mobile station;

[0011] A main control station, communicatively connected to the mobile station, including:

[0012] At least one master operator, arranged on the main control station, for receiving an operation on at least one master operator by a user;

[0013] A controller, configured to be capable of executing the motion control method of the robotic system according to any one of some embodiments of the present disclosure.

[0014] In some embodiments, the present disclosure provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to execute a motion control method of a robot system according to any one of some embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for the description in the embodiments of the present disclosure. The drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings.

[0016] Figure 1 A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0017] Figure 2 A schematic block diagram showing the structure of a surgical robot according to some embodiments of the present disclosure;

[0018] Figure 3 A schematic diagram showing a surgical robot according to some embodiments of the present disclosure;

[0019] Figure 4A A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0020] Figure 4B A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0021] Figure 5 A simplified schematic diagram showing the control points of a mobile station according to some embodiments of the present disclosure;

[0022] Figure 6 A schematic diagram showing the structure of a master manipulator according to some embodiments of the present disclosure;

[0023] Figure 7 A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0024] Figure 8 A schematic diagram showing the reference points of a mobile station according to some embodiments of the present disclosure;

[0025] Figure 9 A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0026] Figure 10 A simplified schematic diagram showing the control points of a motion arm according to some embodiments of the present disclosure;

[0027] Figure 11 A schematic diagram showing a mobile station according to some other embodiments of the present disclosure;

[0028] Figure 12 A flowchart showing a motion control method of a robot system according to some embodiments of the present disclosure;

[0029] Figure 13 A simplified schematic diagram showing a positioning device in a mobile station according to some embodiments of the present disclosure. Detailed implementation manners

[0030] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0031] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end closer to the operator (such as a doctor) is defined as the proximal end, the proximal part, the rear end, or the rear part, and the end closer to the surgical patient is defined as the distal end, the distal part, the front end, or the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, and can also be used for other non-medical devices.

[0032] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in three-dimensional space (e.g., three translational degrees of freedom can be described by changes in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X-axis, Y-axis, and Z-axis, respectively). In the present disclosure, the term "orientation" refers to the rotational setting of an object or a part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In the present disclosure, the term "pose" refers to the combination of the position and orientation of an object or a part of an object, and can be described, for example, using six parameters among the six degrees of freedom mentioned above. In the present disclosure, the configuration or pose of a robotic arm or a part thereof can be represented by a set of joint values of the joints of the robotic arm (e.g., a one-dimensional matrix composed of these joint values). In the present disclosure, the joint value of a joint can include the angle by which the corresponding joint rotates relative to the corresponding joint axis or the distance by which it moves relative to the initial position. In the present disclosure, a reference coordinate system can be understood as a coordinate system capable of describing the pose of an object. According to the actual positioning requirements, the reference coordinate system can be selected with the origin of a virtual reference object or the origin of a physical reference object as the origin of the coordinate system.

[0033] Figure 1 FIG. 4 shows a flowchart of a motion control method 100 of a robotic system according to some embodiments of the present disclosure. Figure 2 FIG. 5 shows a schematic block diagram of the structure of a surgical robot 200 according to some embodiments of the present disclosure. The method 100 can be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 100 can be executed by a robotic system. The robotic system can be various suitable robotic systems including a surgical robotic system (e.g., Figure 2 the surgical robot 200 shown in FIG. 6). The robotic system can also include dedicated or general robotic systems for other fields (e.g., manufacturing, machinery, etc.). In some embodiments, the method 100 can be executed at least in part by a controller 230 of the surgical robot 200 as Figure 2 shown in FIG. 7. In some embodiments, the method 100 can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a dedicated processor (e.g., Figure 2 the controller 230 shown in FIG. 8). For example, the controller 230 of the surgical robot 200 can include a processor configured to execute the method 100. In some embodiments, these instructions can be stored on a computer-readable storage medium.

[0034] In some embodiments, the surgical robot 200 can be various suitable surgical robots including a laparoscopic surgical robot. In some embodiments, as Figure 2As shown, the surgical robot 200 may include a mobile station 210, a master control station 220, and a controller 230. The mobile station 210 may include at least one robotic arm 211. The master control station 220 may include at least one master manipulator 221. Figure 3 Schematic diagram showing the surgical robot 200 according to some embodiments of the present disclosure. As Figure 3 shown, at least one robotic arm 211 may be movably disposed on the mobile station 210. In some embodiments, at least one robotic arm 211 may be a positioning arm of the surgical robot, and the distal end of at least one robotic arm 211 may carry at least one surgical instrument ( Figure 3 not shown, such as forceps, curved scissors, endoscope, etc.). At least one master manipulator 221 is disposed on the master control station 220 for receiving the operation of the user on at least one master manipulator 221. The master control station 220 may be communicatively connected to the mobile station 210. During the surgery, the mobile station 210 is usually located on the patient side, and the user may issue a control instruction by operating at least one master manipulator 221 of the master control station 220 to control at least one surgical instrument carried by the mobile station 210 to perform a surgical operation on the patient. The controller 230 ( Figure 3 not shown in the figure) may be disposed in the mobile station 210 and / or the master control station 220.

[0035] As Figure 1 shown, in step 110, master manipulator operation information corresponding to the operation action of at least one master manipulator is received from at least one master manipulator. Those skilled in the art can understand that the operation action of at least one master manipulator may be an action of the user (such as the surgeon, etc.) holding the handle of the master manipulator and operating the master manipulator. The operation action of at least one master manipulator may include: up and down movement, left and right movement, front and back movement, clockwise roll, counterclockwise roll, clockwise rotation, counterclockwise rotation, etc.

[0036] At least one master manipulator (for example, Figure 2 or Figure 3The shown master manipulator 221) can generate master manipulator operation information based on the operation actions of the user on the master manipulator 221. In some embodiments, when the user operates the master manipulator 221, the master manipulator 221 can generate master manipulator operation information corresponding to the operation of the user on the master manipulator 221 in real time. The master manipulator 221 can include a plurality of arm bodies and a plurality of joints connecting the plurality of arm bodies. In some embodiments, in the case where the operation of the user on the master manipulator 221 changes the pose of the master manipulator, the master manipulator operation information generated by the master manipulator 221 can include information such as the joint values of at least one joint included in the master manipulator 221. The robot system (e.g., the surgical robot 200) can receive the master manipulator operation information generated by the master manipulator 221 from the master manipulator 221 (e.g., a sensor associated with at least one joint included in the master manipulator 221). In some embodiments, the controller 230 of the surgical robot 200 can be communicatively connected to the master manipulator 221 to receive the master manipulator operation information from the master manipulator 221.

[0037] In some embodiments, as Figure 3 shown, at least one master manipulator 221 can include a left master manipulator 221a and a right master manipulator 221b. Those skilled in the art can understand that the left master manipulator 221a is used to receive the operations performed by the user's left hand, and the right master manipulator 221b is used to receive the operations performed by the user's right hand. In some embodiments, the master manipulator operation information can include: left master manipulator operation information received from the left master manipulator (e.g., the left master manipulator 221a) corresponding to the operation actions on the left master manipulator 221a, and / or right master manipulator operation information received from the right master manipulator (e.g., the right master manipulator 221b) corresponding to the operation actions on the right master manipulator 221b.

[0038] As Figure 1As shown, in step 120, based on the master operator operation information, the movement of the mobile station or the robotic arm is controlled. In some embodiments, method 100 may further include: receiving a selection of a control mode. Method 100 may further include: performing motion control based on the received control mode. The control mode may include at least one control mode, for example, a mobile station control mode, a robotic arm control mode, etc. In some embodiments, the robotic arm control mode may include a robotic arm position control mode and a robotic arm attitude control mode. Those skilled in the art can understand that in the case of receiving a selection of the mobile station control mode, in step 120, the movement of the mobile station can be controlled based on the master operator operation information; in the case of receiving a selection of the robotic arm control mode, in step 120, the movement of the robotic arm can be controlled based on the master operator operation information. In some embodiments, the surgical robot 200 may include at least one mode selection device, and the at least one mode selection device may be used to receive the user's selection of the control mode. The controller 230 of the surgical robot 200 may be communicatively connected to the at least one mode selection device to receive the selection of the control mode from the at least one mode selection device. In some embodiments, the mode selection device may be in any suitable form such as a button, a key, a knob, a pedal, etc. In some embodiments, the at least one mode selection device may be disposed on the master control station 220 to facilitate receiving the user's operation. For example, the at least one mode selection device may include buttons, keys, knobs, etc. disposed on the handrest 222 or the at least one master operator 221 of the master control station 220, and the at least one mode selection device may further include a pedal disposed on the base 223 of the master control station 220.

[0039] In some embodiments, the mobile station 210 (as Figure 3 shown) may include at least one caster (for example, Figure 3 the casters 214a and 214b shown). As Figure 3 shown, the mobile station 210 may include a base 213. In some embodiments, as Figure 3 shown, the at least one caster may be disposed at the bottom of the base 213 of the mobile station 210 to enable the movement of the mobile station 210. The at least one caster may include at least one drive caster. In some embodiments, the at least one drive caster may be the front caster of the mobile station 210 (such as Figure 3 the caster 214b shown and the caster disposed opposite to the caster 214b), or the rear caster of the mobile station 210 (such as Figure 3The casters 214a as shown and the casters disposed opposite to the casters 214a, or all the casters disposed on the base 213 of the mobile station 210. In some embodiments, in step 120, the controller 230 of the surgical robot 200 may control the movement of at least one active caster included in the mobile station 210 based on the master operator operation information received from the master operator 221, so as to control the movement of the mobile station 210. In some embodiments, the controller 230 of the surgical robot 200 may be communicatively connected to at least one active caster to control the movement of the mobile station 210.

[0040] In some embodiments, as Figure 3 shown, the motion arm 211 may include at least one arm body (e.g., Figure 3 the arm bodies 2111a to 2111c shown, etc.) and at least one joint connecting the at least one arm body (e.g., the joints 2112a to 2112c, etc.). In some embodiments, the controller 230 of the surgical robot 200 may control the movement of at least one joint (e.g., the joints 2112a to 2112c, etc.) based on the master operator operation information received from the master operator 221 to achieve the control of the movement of the motion arm 211. In some embodiments, the controller 230 of the surgical robot 200 may be communicatively connected to at least one joint of the motion arm 211 to control the movement of the motion arm 211.

[0041] Based on method 100, the user may directly control the movement of the mobile station 210 or the motion arm 211 by operating the master operator (e.g., Figure 3 the master operator 221 shown). For example, before the surgery, the user may operate the master operator 221 to position the mobile station 210 (e.g., make the mobile station 210 located near the operating table and in a pose suitable for performing the surgery), or operate the master operator 221 to position the motion arm 211 (e.g., make the RCM of the motion arm 211 fall at the center of the patient's opening, suitable for connecting the surgical instrument to the motion arm and feeding it into the patient's body).

[0042] Figure 4A FIG. shows a flowchart of a motion control method 400a of a robot system according to some embodiments of the present disclosure. Figure 4B FIG. shows a flowchart of a motion control method 400b of a robot system according to some embodiments of the present disclosure. Methods 400a and 400b may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, methods 400a and 400b may be executed by a robot system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, methods 400a and 400b may be at least in part by such as Figure 2The controller 230 of the surgical robot 200 shown performs. In some embodiments, methods 400a and 400b may be implemented as computer-readable instructions. These instructions may be read and executed by a general-purpose processor or a dedicated processor (e.g., Figure 2 the controller 230 shown in). For example, the controller 230 of the surgical robot 200 may include a processor configured to execute methods 400a and 400b. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0043] As Figure 4A shown, in step 410, based on the master manipulator operation information, the moving speed of the master manipulator handle is determined. In some embodiments, the master manipulator may include a plurality of arm bodies and a plurality of joints connecting the plurality of arm bodies, and the master manipulator handle may be connected to the proximal arm body among the plurality of arm bodies of the master manipulator. During operation, the user may hold the master manipulator handle to perform pose adjustment so that the master manipulator receives the user's operation. In some embodiments, the master manipulator operation information may include joint values of each joint included in the master manipulator at different times collected at a predetermined period, and the controller 230 of the surgical robot 200 may determine the moving speed of the master manipulator handle based on the joint values at consecutive times.

[0044] In some embodiments, the master manipulator operation information may include left master manipulator operation information and right master manipulator operation information. For example, the left master manipulator operation information received from the left master manipulator 221a as Figure 3 shown and the right master manipulator operation information received from the right master manipulator 221b. In some embodiments, determining the moving speed of the master manipulator handle based on the master manipulator operation information may include: determining the moving speed of the left master manipulator handle based on the left master manipulator operation information; determining the moving speed of the right master manipulator handle based on the right master manipulator operation information; and averaging the moving speeds of the left master manipulator handle and the right master manipulator handle as the moving speed of the master manipulator handle.

[0045] As Figure 4A shown, in step 420, based on the moving speed of the master manipulator handle and the first control point speed mapping coefficient, the target speed of the control point of the moving station is determined. In this step, the controller 230 of the surgical robot 200 may map the moving speed of the master manipulator handle at a certain ratio to obtain the target speed of the control point of the moving station. In some embodiments, using v m to represent the moving speed of the master manipulator handle, v c1 to represent the target speed of the control point of the moving station, and a to represent the first control point speed mapping coefficient, the controller 230 of the surgical robot 200 may be based on the moving speed v of the master manipulator handle mand the first control point speed mapping coefficient a, the target speed v of the control point of the mobile station is determined by the following formula (1) c1 :

[0046] v c1 = av m (1)

[0047] Figure 5 FIG. shows a simplified schematic diagram of the control point c1 of the mobile station 210 according to some embodiments of the present disclosure. In some embodiments, as Figure 5 shown, at least one active caster of the mobile station 210 may include a first caster and a second caster symmetrically arranged (such as Figure 5 the casters 214b and 214c shown). In some embodiments, as Figure 5 shown, at least one active caster of the mobile station 210 may be a pair of front casters of the mobile station 210. In some embodiments, the rear casters ( Figure 5 not shown) of the mobile station 210 may be passive casters or active casters. In some embodiments, the control point of the mobile station 210 may include the midpoint of the first caster 214b and the second caster 214c (such as Figure 5 the point c1 shown).

[0048] As Figure 4B shown, the method 400b may include step 430 and step 440. As Figure 4B shown, in step 430, based on the master manipulator operation information, the moving angular velocity of the master manipulator handle is determined. In some embodiments, the master manipulator handle may be connected to the proximal arm body among the multiple arm bodies included in the master manipulator. In some embodiments, the master manipulator operation information may include joint values of each joint included in the master manipulator at different times collected at a predetermined period, and the controller 230 of the surgical robot 200 may determine the moving angular velocity of the master manipulator handle based on the joint values at consecutive times.

[0049] In some embodiments, the master manipulator operation information may include left master manipulator operation information and right master manipulator operation information. In some embodiments, determining the moving angular velocity of the master manipulator handle based on the master manipulator operation information may include: determining the moving angular velocity of the left master manipulator handle based on the left master manipulator operation information; determining the moving angular velocity of the right master manipulator handle based on the right master manipulator operation information; averaging the moving angular velocities of the left master manipulator handle and the right master manipulator handle as the moving angular velocity of the master manipulator handle.

[0050] As Figure 4BAs shown, in step 440, based on the moving angular velocity of the master manipulator handle and the first control point angular velocity mapping coefficient, the target angular velocity of the control point of the mobile station is determined. In this step, the controller 230 of the surgical robot 200 can map the moving angular velocity of the master manipulator handle to the target angular velocity of the control point of the mobile station at a certain ratio. In some embodiments, let ω m represent the moving angular velocity of the master manipulator handle, ω c1 represent the target angular velocity of the control point of the mobile station, and b represent the first control point angular velocity mapping coefficient. The controller 230 of the surgical robot 200 can determine the target angular velocity ω m of the control point of the mobile station based on the moving angular velocity ω c1 of the master manipulator handle and the first control point angular velocity mapping coefficient b through the following formula (2):

[0051] ω c1 = bω m (2)

[0052] By means of method 400a and method 400b, the target velocity v c1 and / or the target angular velocity ω c1 of the control point of the mobile station can be determined. In some embodiments, the movement (e.g., including the target velocity v Figure 5 shown, of the control point (e.g., the control point c1 of the mobile station 210) of the mobile station and / or the target angular velocity ω c1 ) can be the movement of the control point of the mobile station in the mobile station control point coordinate system (such as the coordinate system {c1} shown in c1 ). Figure 5 )

[0053] Those skilled in the art can understand that based on [v c1 ω c1 determined by formula (1) and formula (2) to control the movement of the control point of the mobile station, the control point of the mobile station can follow the movement [v T ω m ω m of the master manipulator handle and move. In some embodiments, the sensitivity of the control point of the mobile station to follow the movement of the master manipulator handle can be adjusted by setting the specific values of the first control point velocity mapping coefficient a and the first control point angular velocity mapping coefficient b in formula (1) and formula (2). For example, when the absolute values of the first control point velocity mapping coefficient a and the first control point angular velocity mapping coefficient b are larger, the sensitivity of the control point of the mobile station to follow the movement of the master manipulator handle is higher. T

[0054] In some embodiments, as shown in Figure 5 ​As shown, the control point coordinate system {c1} of the mobile station may have the control point c1 of the mobile station 210 as the origin. The control point coordinate system {c1} of the mobile station may include a longitudinal coordinate axis in the vertical direction (not shown in the figure) and a third transverse coordinate axis perpendicular to the longitudinal coordinate axis (for example, Figure 5 the x-axis shown) and a fourth transverse coordinate axis (for example, Figure 5 the y-axis shown). In some embodiments, the third transverse coordinate axis (for example, Figure 5 the x-axis shown) may have the forward direction of the mobile station 210 as the positive direction. Those skilled in the art can understand that the coordinate system for determining the movement of the control point of the mobile station is not limited to the control point coordinate system {c1} of the mobile station as Figure 5 shown, and any suitable coordinate system may be used.

[0055] The casters of the mobile station 210 can only move on the ground. Based on this, the movement of the control point of the mobile station 210 may include movements in three degrees of freedom: linear movements along the third transverse coordinate axis (such as Figure 5 the x-axis shown) and the fourth transverse coordinate axis (such as Figure 5 the y-axis shown), and rotational movement around the longitudinal coordinate axis.

[0056] The movement of the main operator handle in space may include movements in six degrees of freedom, which may include rotational degrees of freedom around three mutually orthogonal coordinate axes of the reference coordinate system in space, and translational degrees of freedom along the above three coordinate axes. Figure 6 Shown is a schematic structural diagram of the main operator 600 according to some embodiments of the present disclosure. As Figure 6 shown, the main operator 600 may include a left main operator 610 for receiving the operation of the user's left hand, and a right main operator 620 for receiving the operation of the user's right hand. The moving speed and the moving angular velocity of the main operator handle may be the moving speed and the moving angular velocity of the main operator handle in the reference coordinate system (for example, Figure 6 the reference coordinate system {O} or {O’} shown).

[0057] In some embodiments, the reference coordinate system may be the coordinate system {O} as Figure 6 shown. In the reference coordinate system {O}, the origin O is the midpoint of the left main operator handle 611 and the right main operator handle 621 when the main operator is in the symmetric state as Figure 6 shown. The vertical coordinate axis (such as Figure 6 the z-axis of the coordinate system {O} shown) extends vertically from the origin of the reference coordinate system {O}, and the two horizontal coordinate axes may include a first horizontal coordinate axis perpendicular to the vertical coordinate axis (such as Figure 6 the x-axis of the coordinate system {O} shown) and a second horizontal coordinate axis (such as Figure 6the y-axis of the coordinate system {O} shown. In some embodiments, the reference coordinate system may be as Figure 6 the coordinate system {O'} shown. In some embodiments, the reference coordinate system {O'} may be located on the base 630 that carries the left master manipulator 610 and the right master manipulator 620. As Figure 6 shown, the origin O' of the reference coordinate system {O'} may be located at the central position of the base 630, and the longitudinal coordinate axis (such as Figure 6 the z-axis of the coordinate system {O'} shown) extends vertically from the origin O', and the two horizontal coordinate axes may include a first horizontal coordinate axis perpendicular to the longitudinal coordinate axis (such as Figure 6 the x-axis of the coordinate system {O'} shown) and a second horizontal coordinate axis (such as Figure 6 the y-axis of the coordinate system {O'} shown).

[0058] Those skilled in the art can understand that the reference coordinate system for determining the moving speed and moving angular velocity of the master manipulator handle is not limited to the coordinate system {O} or {O'} as Figure 6 shown, and it can be any suitable coordinate system.

[0059] In some embodiments, method 400a or method 400b may include: determining the motions achievable by the control point of the mobile station in three degrees of freedom based on the motions of the master manipulator handle in three degrees of freedom. In some embodiments, among the motions of the master manipulator handle in three degrees of freedom, the moving speed v m of the master manipulator handle may include the moving speeds v Figure 6 along two horizontal coordinate axes of the reference coordinate system (for example, Figure 6 the x-axis and y-axis of the coordinate system {O} shown, or mx the x-axis and y-axis of the coordinate system {O'} shown) of at least one master manipulator handle, and the moving angular velocity of the master manipulator handle may include the moving angular velocity ω my around the longitudinal coordinate axis of the reference coordinate system (for example, Figure 6 the z-axis of the coordinate system {O} or coordinate system {O'} shown). Based on this, the motion t mz of the master manipulator handle can be determined as t m = [v mx v my 0 0 0 ω mz T In this embodiment, the selection of the degrees of freedom of the master manipulator handle can reflect intuitive operation, making the user's operation more user-friendly and convenient. In addition, it is also beneficial to reduce the amount of data to be processed. Those skilled in the art can understand that the selected degrees of freedom of the master manipulator handle motion are not limited to the above three degrees of freedom, and other suitable selection methods are also possible. ​

[0060] Those skilled in the art can understand that through methods 400a and 400b, the controller 230 of the surgical robot 200 can directly map the movement of the master manipulator handle generated by the user's operation on the master manipulator handle to the movement of the control point of the mobile station, so as to achieve intuitive and convenient adjustment of the control point (for example, during the preoperative adjustment of the pose of the mobile station). In some embodiments, further, the controller 230 can control the movement of the control point of the mobile station based on the determined target speed and / or target angular velocity of the control point of the mobile station. In some embodiments, the controller 230 can also generate a motion control instruction for the mobile station based on the target speed and / or target angular velocity of the control point of the mobile station; and control the movement of the mobile station based on the motion control instruction of the mobile station. Based on this, the control point of the mobile station can move at the target speed and / or target angular velocity.

[0061] In some embodiments, the mobile station (e.g., mobile station 210) may include at least one active caster (e.g., Figure 5 the first caster 214b and the second caster 214c shown), and at least one caster motor for driving at least one active caster (not shown in the figure and can be arranged at a position close to the active caster in the mobile station 210). In some embodiments, method 400a or 400b may further include: determining the target speed of at least one active caster based on the target speed and / or target angular velocity of the control point of the mobile station; and determining the motion control instruction of at least one caster motor based on the target speed and radius of at least one active caster.

[0062] In some embodiments, the moving speed and / or moving angular velocity of the control point of the mobile station can be determined by the following formula (3):

[0063]

[0064] where, v c1 is the moving speed of the control point of the mobile station, ω c1 is the moving angular velocity of the control point of the mobile station, v cr is the moving speed of the right active caster of the mobile station (e.g., Figure 5 the caster 214b shown), v cl is the moving speed of the left active caster of the mobile station (e.g., Figure 5 the caster 214c shown), and D is the distance between the left active caster and the right active caster.

[0065] According to formula (3), in some embodiments, based on the target speed v c1 and / or target angular velocity ω c1 of the control point of the mobile station, the target speed of at least one active caster can be determined by using the following formula (4):

[0066]

[0067] Among them, v cr is the target speed of the right drive caster wheel of the mobile station (e.g., Figure 5 the caster wheel 214b shown), v cl is the target speed of the left drive caster wheel of the mobile station (e.g., Figure 5 the caster wheel 214c shown).

[0068] In some embodiments, after determining the target speed of at least one drive caster wheel, the motion control instructions for at least one caster wheel motor can be determined using the following formulas (5) and (6):

[0069]

[0070]

[0071] Among them, rpm cl is the motion control instruction for the left drive caster wheel (e.g., RPM (revolutions per minute) instruction), v cl is the target speed of the left drive caster wheel, rpm cr is the motion control instruction for the right drive caster wheel (e.g., RPM instruction), v cr is the target linear speed of the right drive caster wheel, r wheel is the radius of the drive caster wheel.

[0072] Figure 7 FIG. shows a flowchart of a motion control method 700 of a robot system according to some embodiments of the present disclosure. The method 700 can be implemented or executed at least partially by hardware, software, or firmware. In some embodiments, the method 700 can be executed by a robot system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, the method 700 can be executed at least partially by a controller 230 of the surgical robot 200 as Figure 2 shown. In some embodiments, the method 700 can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a special-purpose processor (e.g., Figure 2 the controller 230 shown in). For example, the controller 230 of the surgical robot 200 can include a processor configured to execute the method 700. In some embodiments, these instructions can be stored on a computer-readable storage medium.

[0073] As Figure 7 shown, in step 710, based on the moving angular velocity of the master manipulator handle, the target angular velocity of the control point of the mobile station is determined. As Figure 7As shown, in step 720, based on the moving speed and moving angular velocity of the master manipulator handle, the target speed of the control point of the mobile station is determined.

[0074] In some embodiments, the movement of the reference point of the mobile station can be controlled by operating the master manipulator. For example, based on the master manipulator operation information, the movement of the reference point of the mobile station is determined, and then based on the movement of the reference point of the mobile station, the target movement of the control point of the mobile station is determined. In some embodiments, in method 700, the controller 230 of the surgical robot 200 can determine the target speed v of the reference point of the mobile station based on the moving speed of the master manipulator handle r1 and determine the target angular velocity ω of the reference point of the mobile station based on the moving angular velocity of the master manipulator handle r1 , and then based on the target angular velocity ω of the reference point of the mobile station r1 determine the target angular velocity ω of the control point of the mobile station c1 and determine the target speed v of the control point of the mobile station based on the target speed v r1 and target angular velocity ω of the reference point of the mobile station r1 . Based on this, in some embodiments, when the control point of the mobile station moves at [v c1 ω c1 , the reference point of the mobile station can move at [v c1 T . r1 ω r1 T

[0075] In some embodiments, method 700 may further include: determining the target speed of the reference point of the mobile station in the mobile station reference point coordinate system based on the moving speed of the master manipulator handle and the first reference point speed mapping coefficient; determining the target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system based on the moving angular velocity of the master manipulator handle and the first reference point angular velocity mapping coefficient.

[0076] In some embodiments, let v m represent the moving speed of the master manipulator handle, v r1 represent the target speed of the reference point of the mobile station in the mobile station reference point coordinate system, and α represent the first reference point speed mapping coefficient. The controller 230 of the surgical robot 200 can determine the target speed v of the reference point of the mobile station in the mobile station reference point coordinate system based on the moving speed v m of the master manipulator handle and the first reference point speed mapping coefficient α through the following formula (7): r1 :

[0077] v r1 = αv m (7)​​

[0078] In some embodiments, using ω m to represent the moving angular velocity of the master manipulator handle, ω r1 to represent the target angular velocity of the reference point of the mobile station in the coordinate system of the mobile station reference point, and β to represent the first reference point angular velocity mapping coefficient, the controller 230 of the surgical robot 200 can determine the target angular velocity ω m of the reference point of the mobile station in the coordinate system of the mobile station reference point based on the moving angular velocity ω r1 of the master manipulator handle and the first reference point angular velocity mapping coefficient β through the following formula (8):

[0079] ω r1 = βω m (8)

[0080] Figure 8 FIG. shows a schematic diagram of the reference point r1 of the mobile station 210 according to some embodiments of the present disclosure. In some embodiments, the mobile station (e.g., Figure 8 the mobile station 210 shown) may include a first image acquisition device (e.g., a camera). The reference point of the mobile station may include the camera reference point of the first image acquisition device (e.g., the center point of the lens connection of a binocular camera). In some embodiments, the image acquired by the first image acquisition device may be displayed on the display (e.g., Figure 3 the 3D display 224 shown) included in the master control station (e.g., Figure 3 the master control station 220 shown), for the user to view the image acquired by the first image acquisition device while operating the master manipulator (e.g., Figure 3 the master manipulator 221 shown) to control the movement of the mobile station.

[0081] In some embodiments, the reference point of the mobile station is the camera reference point of the first image acquisition device. When controlling the control point of the mobile station to move with [v c1 ω c1 T by operating the master hand, the camera reference point of the first image acquisition device can move with [v r1 ω r1 T and the field of view of the first image acquisition device also moves accordingly. Based on formulas (7) and (8), it can be known that [v r1 ω r1 T is the same as the movement [v m ω m T ​​​​A proportional relationship. Based on this, during the process of the user operating the master manipulator to control the movement of the mobile station, the field of view viewed on the display can move following the operation of the user on the master manipulator, so that the movement of the mobile station can be intuitively controlled.

[0082] In some embodiments, the sensitivity of the camera reference point of the first image acquisition device moving with the movement of the master hand can be adjusted by setting the specific values of the first reference point velocity mapping coefficient α and the first reference point angular velocity mapping coefficient β in formula (7) and formula (8), so as to change the sensitivity of the field of view on the display moving with the operation of the user on the master manipulator handle. For example, when the absolute values of the first reference point velocity mapping coefficient α and the first reference point angular velocity mapping coefficient β are larger, the sensitivity of the camera reference point of the first image acquisition device following the movement of the master manipulator handle is higher.

[0083] In some embodiments, as Figure 8 shown, the mobile station 210 may further include a base 213, a column 215 disposed on the base, and a cross beam 216 disposed on the column 215. In some embodiments, the first image acquisition device may be disposed at the distal end of the cross beam 216 (for example, disposed on the distal end surface of the cross beam 216). In some embodiments, as Figure 8 shown, the mobile station reference point coordinate system {r1} may have the reference point r1 of the mobile station as the origin, and the mobile station reference point coordinate system {r1} may include a first transverse coordinate axis extending from the proximal end to the distal end along the camera optical axis (such as Figure 8 the x-axis shown), a longitudinal coordinate axis perpendicular to the first transverse coordinate axis (for example Figure 8 the z-axis shown), and a second transverse coordinate axis (for example Figure 8 the y-axis shown).

[0084] In some embodiments, method 700 may further include: determining the target angular velocity of the control point of the mobile station in the mobile station control point coordinate system based on the target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system and the rotation transformation relationship between the mobile station reference point coordinate system and the mobile station control point coordinate system. In some embodiments, let ω r1 represent the target angular velocity of the reference point (for example, Figure 8 the reference point r1 shown) of the mobile station (for example, Figure 8 the mobile station 210 shown) in the mobile station reference point coordinate system (for example, Figure 8 the coordinate system {r1} shown), let ω c1 represent the target angular velocity of the control point c1 of the mobile station 210 in the mobile station control point coordinate system {c1}, and let c R r1Represents the rotation transformation relationship between the mobile station reference point coordinate system {r1} and the mobile station control point coordinate system {c1}. The controller 230 of the surgical robot 200 can be based on ω r1 and c R r1 , and determine the target angular velocity ω of the control point of the mobile station in the mobile station control point coordinate system through the following formula (9) c1 :

[0085] ω c1 = c R r1 ω r1 (9)

[0086] Among them, the target angular velocity ω of the reference point of the mobile station in the mobile station reference point coordinate system r1 can be determined by formula (8).

[0087] In some embodiments, the method 700 may further include: determining the target velocity of the control point of the mobile station in the mobile station control point coordinate system based on the target velocity and target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system, the rotation transformation relationship between the mobile station reference point coordinate system and the mobile station control point coordinate system, and the connection vector between the control point of the mobile station and the reference point of the mobile station. In some embodiments, let v r1 and ω r1 respectively represent the target velocity and target angular velocity of the reference point r1 of the mobile station 210 in the mobile station reference point coordinate system {r1}, let v c1 represent the target velocity of the control point c1 of the mobile station 210 in the mobile station control point coordinate system {c1}, let c R r1 represent the rotation transformation relationship between the mobile station reference point coordinate system {r1} and the mobile station control point coordinate system {c1}, and let p represent the connection vector between the control point c1 of the mobile station and the reference point r1 of the mobile station (see the vector p shown in Figure 8 ), then v r1 and v c1 have the relationship described by the following formula (10):

[0088] v r1 = v c1 + ω c1 × p (10)

[0089] Based on formula (9) and formula (10), the controller 230 of the surgical robot 200 can be based on v r1 , ω r1 , c R r1and p, the target velocity v of the control point of the mobile station in the coordinate system of the control point of the mobile station is determined by the following formula (11) c1 :

[0090] v c1 = v r1 - ω c1 × p = c R r1 v r1 - c R r1 ω r1 × p (11)

[0091] Those skilled in the art can understand that based on formula (9) and formula (11), the movement of the control point of the mobile station [v c1 ω c1 T , and based on [v c1 ω c1 T to control the movement of the mobile station can enable the reference point of the mobile station to move with [v r1 ω r1 T . When the reference point of the mobile station is the camera reference point of the first image acquisition device, during the process of the user operating the master manipulator to control the movement of the mobile station, the field of view of the first image acquisition device can move following the operation of the user on the master manipulator, so that the user can intuitively control the movement of the mobile station.

[0092] In some embodiments, in the default state, the first image acquisition device can face the front of the mobile station, and the optical axis of the camera of the first image acquisition device can be parallel to the ground. Based on this, in some embodiments, during the process of the user controlling the movement of the mobile station by operating the master manipulator, the user can observe the field of view in front of the mobile station 210 on the 3D display of the master control station (for example, Figure 3 the 3D display 224 of the master control station 220 shown). The user can then operate the master manipulator 221 based on the movement of the field of view in front of the mobile station 210, so that the mobile station 210 approaches the operating table.

[0093] In some embodiments, the first image acquisition device can pitch, for example, rotate around the y-axis of the coordinate system {r1} of the reference point of the mobile station as shown in Figure 8 . In some embodiments, the first image acquisition device can also deflect, for example, rotate around as shown in Figure 8 ​​​Rotation about the z-axis of the reference point coordinate system {r1} of the mobile station shown. In some embodiments, the first image acquisition device may be connected to the distal end of the cross beam 216 of the mobile station 210 through a connecting device capable of pitching and / or deflecting relative to the cross beam 216. In some embodiments, the controller 230 of the surgical robot 200 may control the first image acquisition device to pitch or deflect based on the master operator operation information received from the master operator (e.g., Figure 3 the master operator 221 shown). In some embodiments, the controller 230 may control the first image acquisition device to pitch based on the information in the master operator operation information characterizing the up and down movement or pitching movement of the master operator handle. In some embodiments, the controller 230 may control the first image acquisition device to deflect based on the information in the master operator operation information characterizing the left and right movement or deflection movement of the master operator handle.

[0094] Those skilled in the art can understand that when the first image acquisition device pitches and / or deflects, the field of view of the first image acquisition device will also rotate accordingly. For example, when the first image acquisition device pitches, the field of view of the first image acquisition device will rotate up and down, so that the user can observe the field of view above or below the distal end of the cross beam of the mobile station 210 on the display; when the first image acquisition device deflects, the field of view of the first image acquisition device will rotate left and right, so that the user can observe the field of view on the left or right side of the distal end of the cross beam of the mobile station 210 on the display. Based on this, the user can adjust the field of view observed on the display by operating the master operator (e.g., the master operator 221). Those skilled in the art can understand that the control of the pitching and / or deflection of the first image acquisition device can adopt a direct proportional mapping method, similar to formula (2) or formula (8), which will not be elaborated here.

[0095] In some embodiments, the user can first, when the first image acquisition device is facing the front of the mobile station, control the mobile station to move towards the direction close to the operating table by operating the master operator. After moving a certain distance, the user can control the first image acquisition device to pitch or deflect by operating the master operator handle, so as to view the position where the mobile station has currently moved in the operating room, which is conducive to judging how to control the movement of the mobile station subsequently.

[0096] In some embodiments, the user makes the mobile station move into position by operating the master operator. For example, it moves to a position near the operating table suitable for connecting the robotic arm and the sheath. After the user makes the mobile station move into position by operating the master operator, the control mode of the surgical robot can be switched to the robotic arm control mode through the mode selection device to adjust the pose of the robotic arm.

[0097] The user can determine whether the mobile station has moved into position in various ways. In some embodiments, the mobile station may include at least one positioning device for the user to determine whether the mobile station is in position. Figure 13 A simplified schematic diagram of the positioning device in the mobile station according to some embodiments of the present disclosure is shown. As Figure 13 shown, the mobile station may include a column 132, a crossbeam 133, and a positioning device (e.g., a first positioning device 134 and a second positioning device 135) provided in the mobile station. In some embodiments, the positioning device may be a laser positioning device or other types of positioning devices. The positioning device may be provided on the lower surface of the crossbeam 133, and the positioning device may be located on the center line of the crossbeam 133. In some embodiments, as Figure 13 shown, the first positioning device 134 projects a circular cursor downward, and the second positioning device 135 projects a cross-shaped cursor downward. In some embodiments, the first image acquisition device may be provided at the position indicated by 130 as Figure 13 shown or adjusted in pitch and / or yaw so that the cursors projected by the first positioning device 134 and the second positioning device 135 fall within the field of view of the first image acquisition device, enabling the user to view the cursors on the display and make a judgment based on the cursors.

[0098] In some embodiments, it is possible to determine whether the mobile station is in position based on the distance between the projection of the first positioning device 134 or the second positioning device 135 on the patient on the operating table 131 and the position of the patient's opening. For example, when the center of the cross-shaped cursor projected by the second positioning device 135 on the patient is located at or relatively close to the patient's opening, it can be determined that the mobile station is in position.

[0099] Figure 9 A flowchart of a motion control method 900 of a robotic system according to some embodiments of the present disclosure is shown. The method 900 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 900 may be executed by a robotic system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, the method 900 may be executed at least in part by a controller 230 of the surgical robot 200 as Figure 2 shown. In some embodiments, the method 900 may be implemented as computer-readable instructions. These instructions may be read and executed by a general-purpose processor or a dedicated processor (e.g., Figure 2 the controller 230 shown). For example, the controller 230 of the surgical robot 200 may include a processor configured to execute the method 900. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0100] As Figure 9As shown, in step 910, based on the moving speed of the master manipulator handle and the second control point speed mapping coefficient, the target speed of the control point of the robotic arm is determined. In this step, the controller 230 of the surgical robot 200 can map the moving speed of the master manipulator handle at a certain ratio to obtain the target speed of the control point of the robotic arm. In some embodiments, let v m represent the moving speed of the master manipulator handle, let v c2 represent the target speed of the control point of the robotic arm, and let c represent the second control point speed mapping coefficient. The controller 230 of the surgical robot 200 can determine the target speed v m of the control point of the robotic arm based on the moving speed v c2 of the master manipulator handle and the second control point speed mapping coefficient c through the following formula (12):

[0101] v c2 = cv m (12)

[0102] Figure 10 FIG. shows a simplified schematic diagram of the control point of the robotic arm 1010 according to some embodiments of the present disclosure. As Figure 10 shown, the robotic arm 1010 is disposed on the mobile station 1000. The mobile station 1000 may further include a base 1020, a column 1030 disposed on the base 1020, and a cross beam 1040 disposed on the column 1030. As Figure 10 shown, the mobile station 1000 may include a lifting joint J1, and the robotic arm 1010 may include joints J2 to J6. In some embodiments, the surgical robot 200 may include the mobile station 1000.

[0103] In some embodiments, as Figure 10 shown, the control point of the robotic arm may include the sheath insertion point into the abdomen, such as the remote center of motion (RCM point). The RCM point may be the origin of the coordinate system {RCM} as Figure 10 shown. In some embodiments, as Figure 10 shown, the rotation axes of joint J4, joint J5, and joint J6 intersect at the remote center of motion (RCM) point, which is the origin of the coordinate system {RCM} as Figure 10 shown. Those skilled in the art can understand that during the surgery, the remote center of motion may be located at the opening of the patient (e.g., the abdominal inlet, etc.), and the robotic arm carries the surgical instrument to make the surgical instrument move around the RCM for adjustment of the position or surgical operation. In some embodiments, the control point of the robotic arm may include the sheath fixation point. For example, the sheath is fixedly connected to the end of the robotic arm through a sheath fixation clip to form the sheath fixation point. In this way, the sheath fixation point may be the center of the end of the sheath fixation clip. For example, the sheath fixation point may be as Figure 9The origin of the {TRB} coordinate system shown.

[0104] As Figure 9 shown, in step 920, based on the moving angular velocity of the master manipulator handle and the second control point angular velocity mapping coefficient, the target angular velocity of the control point of the motion arm is determined. In this step, the controller 230 of the surgical robot 200 can map the moving angular velocity of the master manipulator handle at a certain ratio to obtain the target angular velocity of the control point of the motion arm. In some embodiments, let ω m represent the moving angular velocity of the master manipulator handle, let ω c2 represent the target angular velocity of the control point of the motion arm, and let d represent the second control point angular velocity mapping coefficient. The controller 230 of the surgical robot 200 can, based on the moving angular velocity ω m of the master manipulator handle and the second control point angular velocity mapping coefficient d, determine the target angular velocity ω c2 of the control point of the motion arm through the following formula (13):

[0105] ω c2 = dω m (13)

[0106] Based on method 900, the user can control the movement of the motion arm by operating the master manipulator. In some embodiments, the controller 230 of the surgical robot 200 can execute method 900 upon receiving a selection of the control mode of the motion arm. Based on [v c2 ω c2 T determined by formulas (12) and (13), the movement of the control point of the motion arm is controlled, and the control point of the motion arm can follow the movement [v m ω m T of the master manipulator handle. In some embodiments, the sensitivity of the control point of the motion arm to follow the movement of the master manipulator handle can be adjusted by setting the specific values of the second control point speed mapping coefficient c and the second control point angular velocity mapping coefficient d in formulas (12) and (13).

[0107] In some embodiments, the determined target movement [v c2 ω c2 T of the control point of the motion arm can be the target movement of the control point of the motion arm in the motion arm control point coordinate system. In some embodiments, the control point of the motion arm is the RCM of the motion arm, such as Figure 10 the origin of the coordinate system {RCM} shown. In some embodiments, the motion arm control point coordinate system can be as Figure 10The shown coordinate system {RCM}, the control point coordinate system {RCM} of the moving arm may have the remote motion center RCM as the origin. The coordinate system {RCM} may include a longitudinal coordinate axis extending from the proximal end to the distal end (e.g., Figure 10 the x-axis of the shown coordinate system {RCM}), and a seventh transverse coordinate axis perpendicular to the longitudinal coordinate axis (e.g., Figure 10 the y-axis of the shown coordinate system {RCM}) and an eighth transverse coordinate axis (e.g., Figure 10 the z-axis of the shown coordinate system {RCM}). Those skilled in the art can understand that the coordinate system for determining the target motion of the control point of the moving arm is not limited to the above coordinate system, and can be, for example, Figure 10 the coordinate system {TRB} with the sheath fixing point as the origin as shown, the coordinate system {0} with the origin on the ground, or any other suitable coordinate system.

[0108] In some embodiments, method 900 may further include: generating a motion control instruction for the moving arm based on the target velocity and / or target angular velocity of the control point of the moving arm; and controlling the movement of the moving arm based on the motion control instruction of the moving arm. Based on this, the control point of the moving arm can move at [v c2 ω c2 T so that the user can control the movement of the control point of the moving arm by operating the main operator handle.

[0109] In some embodiments, as Figure 10 shown, the mobile station 1000 may include a moving arm 1010, a base 1020, a column 1030, and a cross beam 1040. The mobile station 1000 and the moving arm 1010 may include at least one joint, such as Figure 10 the joints J1 to J6 shown. For the moving arm 1010 as Figure 10 shown, generating a motion control instruction for the moving arm may include: determining the joint values and joint velocities of at least one joint (e.g., Figure 10 the joints J1 to J6 shown) based on the target velocity and / or target angular velocity of the control point of the moving arm 1010 in the control point coordinate system of the moving arm; and determining a drive control instruction for at least one joint motor based on the joint values and joint velocities of at least one joint. In some embodiments, each joint motor (not shown in the figure) in at least one joint motor may be disposed at the joint it drives.

[0110] In some embodiments, as Figure 10 shown, the moving arm 1010 may include at least one arm body, for example, Figure 10 the first cross arm B1, the second cross arm B2, the first arc arm B3, the second arc arm B4, and the third arc arm B5 shown. As Figure 10 ​As shown, the proximal and distal ends of multiple arm bodies are sequentially and rotatably connected to form joints, and the rotation axes of the first arc arm B3, the second arc arm B4, and the third arc arm B5 intersect at the remote center of motion. In some embodiments, as Figure 9 shown, at least one joint included in the mobile station 1000 and the robotic arm 1010 may include: a lifting joint J1 of the mobile station 1000, a first cross-arm rotation joint J2, a second cross-arm rotation joint J3, a first arc-arm rotation joint J4, a second arc-arm rotation joint J5, and a third arc-arm rotation joint J6 of the robotic arm 1010. Among them, the lifting joint J1 is disposed between the main cross beam 920 and the main column 930, and is used to lift the main cross beam 920, so as to change the lifting position of the control point of the robotic arm 1010; the first cross-arm rotation joint J2 is connected between the main cross beam 920 and the first cross arm B1; the second cross-arm rotation joint J3 is connected between the first cross arm B1 and the second cross arm B2; the first arc-arm rotation joint J4 is connected between the second cross arm B2 and the first arc arm B3; the second arc-arm rotation joint J5 is connected between the first arc arm B3 and the second arc arm B4; the third arc-arm rotation joint J6 is connected between the second arc arm B4 and the third arc arm B5. For the robotic arm 1010, when the remote center of motion RCM does not move, the first arc arm B3, the second arc arm B4, and the third arc arm B5 can move arbitrarily in the motion space, for example, they can be switched between full folding, full unfolding, and intermediate positions.

[0111] In some embodiments, the method 900 may further include: determining the joint values and joint speeds of the lifting joint J1 of the mobile station 1000, the first cross-arm rotation joint J2, and the second cross-arm rotation joint J3 of the robotic arm 1010 based on the target speed of the control point of the robotic arm 1010; and determining the drive control instructions for the joint motors that drive the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2, and the second cross-arm rotation joint J3 of the robotic arm based on the joint values and joint speeds of the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2, and the second cross-arm rotation joint J3 of the robotic arm. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the lifting joint J1 of the mobile station 1000, the first cross-arm rotation joint J2, and the second cross-arm rotation joint J3 of the robotic arm 1010 to move based on the target speed of the control point of the robotic arm 1010, so as to adjust the position of the control point of the robotic arm 1010.

[0112] Figure 11 Shows a schematic structural diagram of a mobile station 800 according to some embodiments of the present disclosure. As Figure 11 shown, the mobile station 800 may include a robotic arm 810. The robotic arm 810 may include at least one joint, for example, Figure 11 the joints 8111-8161 shown. For as Figure 11The shown moving arm 810, generating the motion control instruction of the moving arm may further include: determining the joint values and joint speeds of at least one joint (e.g., joints 8111 to 8161) based on the target speed and / or target angular speed of the control point of the moving arm 810 in the moving arm control point coordinate system; and determining the drive control instructions of at least one joint motor based on the joint values and joint speeds of at least one joint. In some embodiments, each joint motor of at least one joint motor (not shown in the figure) may be disposed at the joint it drives. The controller 230 of the surgical robot 200 may drive at least one joint motor based on the drive control instructions of at least one joint motor, such that at least one joint motor drives its corresponding joint to achieve the determined joint values and joint speeds. Based on this, the control point of the moving arm can reach the target speed and / or target angular speed, thereby realizing the control of the movement of the moving arm.

[0113] Express the target speed and target angular speed of the control point of the moving arm in the moving arm control point coordinate system as t c2 =[v c2 T ω c2 T T , using the differential kinematics model, the formula (14) can be obtained as follows:

[0114]

[0115] Wherein, is the Jacobian matrix, J vi represents the partial derivative of the control point velocity vector with respect to the ith joint velocity, J ωi represents the partial derivative of the control point coordinate system angular velocity vector with respect to the ith joint velocity, represents the joint velocity of the ith joint. The ith joint may include the 1st joint to the 6th joint, which may be respectively Figure 11 the joints 8111 to joint 8161 shown. For example, J v1 represents the partial derivative of the target velocity vector v c2 of the control point with respect to Figure 11 the joint velocity of the joint 8111 shown, J ω1 represents the partial derivative of the target angular velocity vector ω c2 of the control point with respect to Figure 11 the joint velocity of the joint 8111 shown, J v2 represents the partial derivative of the target velocity vector v c2 of the control point with respect to Figure 11 the joint velocity of the joint 8121 shown, J ω2 represents the partial derivative of the target angular velocity vector ω c2 of the control point with respect to Figure 11 ​The partial derivative of the joint velocity of the shown joint 8121 denotes Figure 11 the joint velocity of the shown joint 8111 denotes Figure 11 the joint velocity of the shown joint 8121, and so on for other joints.

[0116] After determining the target velocity and target angular velocity of the control point of the robotic arm in the robotic arm control point coordinate system, the joint values and joint velocities of at least one joint can be calculated through the Jacobian pseudoinverse. In some embodiments, the joint values and joint velocities of at least one joint can be determined based on the target velocity and / or target angular velocity of the control point of the robotic arm in the robotic arm control point coordinate system through the following formulas (15) and (16):

[0117]

[0118]

[0119] where q is the joint value vector of at least one joint, is the joint velocity vector of at least one joint, and J + is the pseudoinverse matrix of the Jacobian matrix J.

[0120] In some embodiments, as Figure 11 shown, the robotic arm 810 may include at least one arm body, such as Figure 11 the shown first cross arm 811, second cross arm 812, vertical arm 813, first arc arm 814, second arc arm 815, and third arc arm 816. In some embodiments, as Figure 11 shown, the at least one joint included in the robotic arm 810 may include: a first cross arm rotary joint 8111, a second cross arm rotary joint 8121, a lifting joint 8131, a first arc arm rotary joint 8141, a second arc arm rotary joint 8151, and a third arc arm rotary joint 8161. Among them, the first cross arm rotary joint 8111 is used to connect the first cross arm 811 and the main cross beam 820 of the mobile station 800; the second cross arm rotary joint 8121 is used to connect the second cross arm 812 and the first cross arm 811; the lifting joint 8131 is disposed on the vertical arm 813 and is used to realize the lifting of the control point of the robotic arm; the first arc arm rotary joint 8141 is used to connect the vertical arm 813 and the first arc arm 814; the second arc arm rotary joint 8151 is used to connect the first arc arm 814 and the second arc arm 815; the third arc arm rotary joint 8161 is used to connect the second arc arm 815 and the third arc arm 816.

[0121] In some embodiments, method 900 may further include: determining joint values and joint speeds of the first cross-arm rotary joint 8111, the second cross-arm rotary joint 8121, and the lifting joint 8131 of the robotic arm 810 based on the target speed of the control point of the robotic arm 810; and determining drive control instructions for the joint motors of the first cross-arm rotary joint 8111, the second cross-arm rotary joint 8121, and the lifting joint 8131 for driving the robotic arm 801 based on the joint values and joint speeds of the first cross-arm rotary joint 8111, the second cross-arm rotary joint 8121, and the lifting joint 8131 of the robotic arm 810. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the first cross-arm rotary joint 8111, the second cross-arm rotary joint 8121, and the lifting joint 8131 of the robotic arm 810 to move based on the target speed of the control point of the robotic arm 810, thereby adjusting the position of the control point of the robotic arm 810.

[0122] In some embodiments, method 900 may further include: determining joint values and joint speeds of the first arc-arm rotary joint, the second arc-arm rotary joint, and the third arc-arm rotary joint of the robotic arm (e.g., the robotic arm 810 or the robotic arm 910) based on the target angular velocity of the control point of the robotic arm; and determining drive control instructions for the joint motors of the first arc-arm rotary joint, the second arc-arm rotary joint, and the third arc-arm rotary joint for driving the robotic arm based on the joint values and joint speeds of the first arc-arm rotary joint, the second arc-arm rotary joint, and the third arc-arm rotary joint of the robotic arm. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the first arc-arm rotary joint, the second arc-arm rotary joint, and the third arc-arm rotary joint of the robotic arm (e.g., the joints 8141 - 8161 of the robotic arm 810 or the joints J4 - J6 of the robotic arm 1010) to move based on the target angular velocity of the control point of the robotic arm (e.g., the robotic arm 810 or the robotic arm 1010), thereby adjusting the attitude of the control point of the robotic arm.

[0123] Figure 12 FIG. 1200 is a flowchart showing a motion control method of a robotic system according to some embodiments of the present disclosure. Method 1200 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, method 1200 may be executed by a robotic system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, method 1200 may be executed at least in part by the controller 230 of the surgical robot 200 as Figure 2 shown. In some embodiments, method 1200 may be implemented as computer-readable instructions. These instructions may be executed by a general-purpose processor or a dedicated processor (e.g., Figure 2The controller 230 shown in reads and executes. For example, the controller 230 of the surgical robot 200 may include a processor configured to execute method 1200. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0124] As Figure 12 shown, in step 1210, based on the moving angular velocity of the master manipulator handle, the target angular velocity of the control point of the moving arm is determined. In step 1220, based on the moving speed and moving angular velocity of the master manipulator handle, the target speed of the control point of the moving arm is determined.

[0125] In some embodiments, the movement of the reference point of the moving arm can be controlled by operating the master manipulator. For example, the movement of the reference point of the moving arm is determined based on the master manipulator operation information, and then based on the movement of the reference point of the moving arm, the target movement of the control point of the moving arm is determined. In some embodiments, in method 1200, the controller 230 of the surgical robot 200 may determine the target speed v of the reference point of the moving arm based on the moving speed of the master manipulator handle r2 and determine the target angular velocity ω of the reference point of the moving arm based on the moving angular velocity of the master manipulator handle r2 , and then based on the target angular velocity ω of the reference point of the moving arm r2 determine the target angular velocity ω of the control point of the moving arm c2 and determine the target speed v of the control point of the moving arm based on the target speed v r2 and target angular velocity ω r2 of the reference point of the moving arm. Based on this, in some embodiments, when the control point of the moving arm moves at [v c2 ω c2 c2 T the reference point of the moving arm can move at [v r2 ω r2 T movement.

[0126] In some embodiments, method 1200 may further include: determining the target speed of the reference point of the moving arm in the moving arm reference point coordinate system based on the moving speed of the master manipulator handle and the second reference point speed mapping coefficient; determining the target angular velocity of the reference point of the moving arm in the moving arm reference point coordinate system based on the moving angular velocity of the master manipulator handle and the second reference point angular velocity mapping coefficient.

[0127] In some embodiments, let v m represent the moving speed of the master manipulator handle and v r2 ​​Indicating the target velocity of the reference point of the moving arm in the coordinate system of the moving arm reference point, and using χ to represent the second reference point velocity mapping coefficient, the controller 230 of the surgical robot 200 can be based on the moving velocity v of the master manipulator handle m and the second reference point velocity mapping coefficient χ, and determine the target velocity v of the reference point of the moving arm in the coordinate system of the moving arm reference point through the following formula (17) r2 :

[0128] v r2 = χv m (17)

[0129] In some embodiments, using ω m to represent the moving angular velocity of the master manipulator handle, using ω r2 to represent the target angular velocity of the reference point of the moving arm in the coordinate system of the moving arm reference point, and using δ to represent the second reference point angular velocity mapping coefficient, the controller 230 of the surgical robot 200 can be based on the moving angular velocity ω of the master manipulator handle m and the second reference point angular velocity mapping coefficient δ, and determine the target angular velocity ω of the reference point of the moving arm in the coordinate system of the moving arm reference point through the following formula (18) r2 :

[0130] ω r2 = δω m (18)

[0131] In some embodiments, as Figure 10 shown, the mobile station 1000 may include a second image acquisition device (not shown in the figure), and at least one moving arm 1010 may include a platform 1011 provided at the distal end of the moving arm 1010. As Figure 10 shown, the platform 1011 may be located at the bottom surface of the third arc arm B5. In some embodiments, the second image acquisition device may be provided at the distal end of the platform 1011. The reference point of the moving arm 1010 may include the camera reference point of the second image acquisition device. The camera reference point may be located at the distal end of the platform 1011 and the midpoint of the lens connection line of the binocular camera, for example Figure 10 the point r2 shown. In some embodiments, the camera optical axis of the second image acquisition device may point from the reference point r2 to the RCM ( Figure 10 the origin of the coordinate system {RCM} shown). Based on this, in some embodiments, when the first arc arm B3, the second arc arm B4, and the third arc arm B5 can move to any state (for example, fully folded, fully unfolded, or intermediate position, etc.) in the motion space, the camera optical axis of the second image acquisition device all points to the RCM. For example, when the moving arm 1010 is in the fully unfolded state as Figure 10 shown, the camera optical axis of the second image acquisition device may be as Figure 10As shown in L1. The image collected by the second image acquisition device can be displayed on the display (e.g., Figure 3 the display 224 shown) included in the master control station (e.g., Figure 3 the 3D display 224 shown), for the user to view the image collected by the second image acquisition device while operating the master manipulator (e.g., Figure 3 the master manipulator 221 shown) to control the movement of the robotic arm.

[0132] In some embodiments, the reference point of the robotic arm is the camera reference point of the second image acquisition device. When controlling the control point of the robotic arm to move with [v c2 ω c2 T movement, the camera reference point of the second image acquisition device can move with [v r2 ω r2 T movement, and the field of view of the second image acquisition device also moves accordingly. And based on formulas (17) and (18), it can be known that [v r2 ω r2 T is proportional to the movement [v m ω m T of the master manipulator. Based on this, during the process of the user operating the master manipulator to control the movement of the robotic arm, the field of view viewed on the display can move following the operation of the user on the master manipulator, so that the movement of the robotic arm can be intuitively controlled.

[0133] In some embodiments, by setting the specific values of the second reference point velocity mapping coefficient χ and the second reference point angular velocity mapping coefficient δ in formulas (17) and (18), the sensitivity of the camera reference point of the second image acquisition device to move with the movement of the master hand can be adjusted, thereby changing the sensitivity of the field of view on the display to move following the operation of the user on the master manipulator handle.

[0134] In some embodiments, the target movement [v r2 ω r2 T of the reference point of the robotic arm can be the target movement of the reference point of the robotic arm in the reference point coordinate system of the robotic arm. In some embodiments, as Figure 10 shown, the reference point coordinate system of the robotic arm (e.g., Figure 10 the coordinate system {r2} shown) can have the reference point of the robotic arm (e.g., the camera reference point r2 of the second image acquisition device) as the origin, and the reference point coordinate system {r2} of the robotic arm can include a longitudinal coordinate system extending from the proximal end to the distal end along the camera optical axis (e.g., Figure 10 ​​​​​the x-axis of the shown coordinate system {r2}) and a fifth transverse axis and a sixth transverse axis perpendicular to the longitudinal axis (such as Figure 10 two coordinate axes other than the x-axis in the shown coordinate system {r2}).

[0135] In some embodiments, method 1200 may further include: determining the target angular velocity of the control point of the robotic arm in the robotic arm control point coordinate system based on the target angular velocity of the reference point of the robotic arm in the robotic arm reference point coordinate system and the rotation transformation relationship between the robotic arm reference point coordinate system and the robotic arm control point coordinate system. In some embodiments, let ω r2 represent the reference point of the robotic arm (e.g., Figure 10 the shown robotic arm 1010) (e.g., Figure 10 the shown reference point r2) in the robotic arm reference point coordinate system (e.g., Figure 10 the shown coordinate system {r2}), the target angular velocity of the control point of the robotic arm 1010 (e.g., c2 the shown RCM) in the robotic arm control point coordinate system {RCM} is represented by ω Figure 10 , and the rotation transformation relationship between the robotic arm reference point coordinate system {r2} and the robotic arm control point coordinate system {RCM} is represented by c R r2 . The controller 230 of the surgical robot 200 may determine the target angular velocity ω r2 of the control point of the robotic arm in the robotic arm control point coordinate system based on the target angular velocity ω c R r2 and the rotation transformation relationship between the robotic arm reference point coordinate system and the robotic arm control point coordinate system through the following formula (19): c2 :

[0136] ω c2 = c R r2 ω r2 (19)

[0137] wherein, the target angular velocity ω r2 of the reference point of the robotic arm in the robotic arm reference point coordinate system can be determined by formula (18).

[0138] In some embodiments, method 1200 may further include: determining the target velocity of the control point of the robotic arm in the robotic arm control point coordinate system based on the target velocity and target angular velocity of the reference point of the robotic arm in the robotic arm reference point coordinate system, the rotation transformation relationship between the robotic arm reference point coordinate system and the robotic arm control point coordinate system, and the connection vector between the control point of the robotic arm and the reference point of the robotic arm. In some embodiments, let v r2 and ω r2respectively represent the target velocity and target angular velocity of the reference point r2 of the moving arm 1010 in the moving arm reference point coordinate system {r2}, with v c2 represent the target velocity of the control point of the moving arm 1010 (e.g., Figure 10 the RCM shown) in the moving arm control point coordinate system {RCM}, with c R r2 represent the rotation transformation relationship between the moving arm reference point coordinate system {r2} and the moving arm control point coordinate system {RCM}, with q representing the connection vector between the control point RCM of the moving arm and the reference point r2 of the moving arm, and v can be obtained r2 v c2 has the relationship described by the following formula (20):

[0139] v r2 = v c2 + ω c2 × q (20)

[0140] Based on formula (19) and formula (20), the controller 230 of the surgical robot 200 can be based on v r2 、ω r2 、 c R r2 and q, and determine the target velocity v of the control point of the moving arm in the moving arm control point coordinate system through the following formula (21): c2 :

[0141] v c2 = v r2 - ω c2 × q = c R r2 v r2 - c R r2 ω r2 × q (21)

[0142] Those skilled in the art can understand that determining the movement of the control point of the moving arm based on formula (19) and formula (21) [v c2 ω c2 T , and controlling the movement of the moving arm based on [v c2 ω c2 T can enable the reference point of the moving arm to move at [v r2 ω r2 T ​​​Movement. When the reference point of the robotic arm is the camera reference point of the second image acquisition device, during the process that the user operates the master manipulator to control the movement of the robotic arm, the field of view of the second image acquisition device can move following the operation of the user on the master manipulator, so that the user can intuitively adjust the pose of the robotic arm until the robotic arm is in place. For example, when the depth direction of the camera field of view (corresponding to the x direction of the {r2} coordinate system) extends into the channel of the sheath tube, the user can judge that the pose of the robotic arm is in place. When the robotic arm is in place, when the RCM of the robotic arm falls at the central position of the patient's opening, it is suitable to connect the surgical instrument to the robotic arm and feed it into the patient's body through the patient's opening.

[0143] After judging that the robotic arm is in place, the user can issue an instruction to exit the robotic arm control mode. For example, the instruction is issued through a mode switching device (which can be a button, a key, etc. provided on the main control station) provided on the main control station (such as the main control station 220 shown in Figure 3 . The controller 230 of the surgical robot 200 can control the mobile station 210 or the robotic arm 211 to stop moving when receiving the instruction to exit the robotic arm control mode, and in some embodiments, can also switch the surgical robot 200 to the surgical instrument control mode. The user can then perform subsequent surgical preparation work (such as connecting the end of the robotic arm to the sheath tube, loading surgical instruments required for the surgery on the robotic arm, etc.) and perform the surgery.

[0144] The user can judge whether the robotic arm moves to the in-place state in various ways. In some embodiments, the display of the main control station can display at least one auxiliary line while displaying the field of view of the second image acquisition device, and the user can judge whether the robotic arm is in place with the help of the at least one auxiliary line. For example, the user can judge that the robotic arm moves to the in-place state when observing that at least one auxiliary line displayed on the display coincides with at least one auxiliary line on the inner wall of at least one channel provided by the sheath tube. When at least one auxiliary line displayed on the display coincides with at least one auxiliary line on the inner wall of at least one channel provided by the sheath tube (at this time, the end of the sheath tube can extend into the patient's opening), it indicates that the surgical instrument carried at the distal end of the robotic arm in this state can enter the patient's body through the channel provided by the sheath tube, thus indicating that the robotic arm is in place.

[0145] The user can judge whether the height of the control point of the robotic arm is in place or appropriate in various ways. In some embodiments, the user can judge whether the height of the robotic arm is appropriate through the first positioning device 134 and the second positioning device 135 as shown in Figure 13 . In the lifting joint in the mobile station (such as the lifting joint J1 shown in Figure 10 or Figure 11During the lifting process of the shown lifting joint 8131), the distances between the first positioning device 134 and the second positioning device 135 and the operating table are different, and the sizes of the light spots projected by the two on the patient on the operating table are also different. Based on this, during the process of adjusting the height of the control point of the robotic arm, if it is observed that the circular light spot projected by the first positioning device 134 on the patient is tangent to the cross-shaped light spot projected by the second positioning device 135 (in the state of the circular light spot and the cross-shaped light spot as shown in Figure 13 ), it can be determined that the control point of the robotic arm is at an appropriate height.

[0146] In some embodiments, when the surgical robot is in the robotic arm control mode and it is difficult for the user to move the robotic arm into position by operating the master manipulator, the user can switch back to the mobile station control mode and further adjust the pose of the mobile station, and then switch to the robotic arm control mode again to adjust the pose of the control point of the robotic arm until the control point is in position.

[0147] Some embodiments of the present disclosure also provide a surgical robot 200. Figure 3 A schematic diagram showing a surgical robot 200 according to some embodiments of the present disclosure. As Figure 3 shown, the surgical robot 200 may include a mobile station 210, a master control station 220, and a controller ( Figure 3 not shown, for example Figure 2 the shown controller 230). The mobile station 210 may include at least one robotic arm 211, and at least one robotic arm 211 is movably arranged on the mobile station 210. The master control station 220 may be communicatively connected to the mobile station 210. The connection between the master control station 220 and the mobile station 210 may be achieved by wired transmission or wireless transmission. The mobile station 210 is usually located on the patient side and performs surgery on the patient in response to the control instructions of the master control station 220.

[0148] The master control station 220 may include at least one master manipulator 221. At least one master manipulator 221 is arranged on the master control station 220 and is used to receive the operations of the user on at least one master manipulator 221. As Figure 3 shown, in some embodiments, at least one master manipulator 221 may include a left master manipulator 221a for receiving the operations of the user's left hand and a right master manipulator 221b for receiving the operations of the user's right hand. During the surgery, the user can control at least one surgical instrument carried by the mobile station 210 to perform surgical operations by operating at least one master manipulator 221 in the master control station 220.

[0149] The controller can be set to be capable of executing the motion control method of the robot system according to any one of some embodiments of the present disclosure (for example, methods 100, 400a, 400b, 700, 900, etc.). In some embodiments, the controller can be disposed in the mobile station 210 and / or the main control station 220. In some embodiments, the controller can be communicatively connected to the mobile station 210 and the main control station 220 respectively to receive the main operator operation information from the main control station 220 and control the movement of the mobile station 210 or the robotic arm 211. In some embodiments, the main control station 220 may further include at least one mode selection device, and the at least one mode selection device can be used to receive the user's selection of the mobile station control mode or the robotic arm control mode. The controller 230 can be communicatively connected to the at least one mode selection device to receive the control mode selected by the user from the at least one mode selection device, so as to determine to control the movement of the mobile station or the movement of the robotic arm. In some embodiments, the mode selection device can be in any suitable form such as a button, a key, a knob, a pedal, etc. In some embodiments, the at least one mode selection device can be disposed on the main control station 220 to facilitate receiving the user's operation. For example, the at least one mode selection device can include buttons, keys, knobs, etc. disposed on the handrest 222 or at least one main operator 221 of the main control station 220, and the at least one mode selection device can further include a pedal disposed on the base 223 of the main control station 220.

[0150] In some embodiments, the at least one robotic arm can include at least one joint (for example, Figure 11 the illustrated robotic arm 810 can include joints 8111-8161) and at least one joint motor for driving the at least one joint (not shown in the figure, and each joint motor can be disposed at the joint driven by the joint motor). The controller 230 can be communicatively connected to the at least one joint motor. Based on this, the controller can determine the drive control instruction for driving the at least one joint motor based on the received main operator operation information, so as to realize the control of the movement of the at least one robotic arm.

[0151] In some embodiments, the mobile station 210 may further include at least one lifting joint (for example, Figure 11 the lifting joint 8131 included in the illustrated robotic arm 810) and at least one joint motor for driving the at least one lifting joint (not shown in the figure, and can be disposed at the lifting joint). The controller 230 can be communicatively connected to the at least one joint motor. Based on this, the controller can determine the drive control instruction for driving the at least one joint motor based on the received main operator operation information, so as to realize the adjustment of the position (for example, height) of the control point of the at least one robotic arm.

[0152] In some embodiments, the mobile station 210 may further include at least one active caster (for example,Figure 5 The shown casters 214b and 214c) and at least one caster motor for driving at least one active caster (not shown in the figure and can be arranged near the active caster it drives). The controller 230 can be communicatively connected to at least one caster motor to cause at least one caster motor to drive at least one active caster to rotate, thereby realizing the control of the movement of the mobile station.

[0153] Those skilled in the art can understand that the surgical robot 200 provided in this embodiment can be any suitable surgical robot system including a laparoscopic surgical robot system.

[0154] In some embodiments, the present disclosure provides a computer-readable storage medium, which can be used to store at least one instruction. When the at least one instruction is executed by a computer, it causes the computer to execute the motion control method of the robot system according to any one of some embodiments of the present disclosure (for example, methods 100, 400a, 400b, 700).

[0155] In some embodiments, a computer-readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination of the above.

[0156] From the above description of the embodiments, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software and necessary general-purpose hardware, and of course, it can also be implemented by hardware. Based on this understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and this computer software product can be stored in a computer-readable storage medium. In some embodiments, the computer-readable storage medium can include, but is not limited to: a portable computer disk, a hard disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other solid-state memory technologies, a CD-ROM, a digital versatile disk (DVD), an HD-DVD, a Blu-ray or other optical storage devices, a magnetic tape, a magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the required information and can be accessed by a computer, on which computer-executable instructions are stored. When the computer-executable instructions run on a machine (such as a computer device), the machine executes the control method of the present disclosure. It should be understood that the computer device can include a personal computer, a server, or a network device, etc.

[0157] In some embodiments, through the motion control method of the robot system provided by the present disclosure, a user can, by operating the master manipulator, control the movement of the mobile station (e.g., mobile station 210 or mobile station 1000) or the robotic arm (e.g., robotic arm 211, robotic arm 1010 or robotic arm 800), so that the mobile station or the robotic arm of the surgical robot can be conveniently moved to a pose convenient for performing surgery.

[0158] In some embodiments, during the process of the user operating the master manipulator to control the movement of the mobile station or the robotic arm, the field of view of the first image acquisition device or the second image acquisition device can move following the operation of the user on the master manipulator, enabling the user to intuitively adjust the pose of the mobile station or the robotic arm.

[0159] Note that the above are only exemplary embodiments of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments only. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A motion control method for a robot system, the robot system comprising a mobile station and a main control station, the mobile station comprising at least one motion arm, and the main control station comprising at least one main operator, the control method comprising: Receiving master manipulator operation information corresponding to an operation action of the at least one master manipulator from the at least one master manipulator; And Based on the master manipulator operation information, controlling the movement of the mobile station or the robotic arm.

2. The control method according to claim 1, wherein, Further comprising: Based on the master manipulator operation information, determining the moving speed of the master manipulator handle; And / or Based on the master manipulator operation information, determining the moving angular velocity of the master manipulator handle.

3. The control method according to claim 2, wherein, Further comprising: Receiving a selection of a mobile station control mode or a robotic arm control mode.

4. The control method according to claim 2, wherein, Further comprising: Based on the moving speed of the master manipulator handle and a first control point speed mapping coefficient, determining the target speed of the control point of the mobile station; And / or Based on the moving angular velocity of the master manipulator handle and a first control point angular velocity mapping coefficient, determining the target angular velocity of the control point of the mobile station.

5. The control method according to claim 2, wherein, Further comprising: Based on the moving angular velocity of the master manipulator handle, determining the target angular velocity of the control point of the mobile station; And / or Based on the moving speed and moving angular velocity of the master manipulator handle, determining the target speed of the control point of the mobile station.

6. The control method according to claim 5, wherein, Further comprising: Based on the moving speed of the master manipulator handle and a first reference point speed mapping coefficient, determining the target speed of the reference point of the mobile station in the mobile station reference point coordinate system; And / or Based on the moving angular velocity of the master manipulator handle and a first reference point angular velocity mapping coefficient, determining the target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system.

7. The control method according to claim 6, wherein, Further comprising: Based on the target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system and the rotation transformation relationship between the mobile station reference point coordinate system and the mobile station control point coordinate system, determining the target angular velocity of the control point of the mobile station in the mobile station control point coordinate system; And / or Based on the target speed and target angular velocity of the reference point of the mobile station in the mobile station reference point coordinate system, the rotation transformation relationship between the mobile station reference point coordinate system and the mobile station control point coordinate system, and the connection vector between the control point of the mobile station and the reference point of the mobile station, determining the target speed of the control point of the mobile station in the mobile station control point coordinate system.

8. The control method according to claim 5, wherein, The mobile station includes a base, a column provided on the base, a cross beam provided on the column, and a first image acquisition device provided at the distal end of the cross beam, The reference point of the mobile station includes the camera reference point of the first image acquisition device. The mobile station reference point coordinate system takes the reference point of the mobile station as the origin. The mobile station reference point coordinate system includes a first transverse coordinate axis extending from the proximal end to the distal end along the camera optical axis, and a longitudinal coordinate axis and a second transverse coordinate axis perpendicular to the first transverse coordinate axis.

9. The control method according to claim 4 or 5, wherein, Further comprising: Based on the target speed and / or target angular velocity of the control point of the mobile station, generating a motion control instruction for the mobile station; And Based on the motion control instruction of the mobile station, controlling the movement of the mobile station.

10. The control method according to claim 9, characterized in that, The mobile station includes at least one active caster and at least one caster motor for driving the at least one active caster. The method further includes: Determine the target speed of the at least one active caster based on the target speed and / or the target angular velocity of the control point of the mobile station; and Determine the motion control instruction of the at least one caster motor based on the target speed and radius of the at least one active caster.

11. The control method according to claim 10, characterized in that, The at least one active caster includes a first caster and a second caster symmetrically arranged, The control point of the mobile station includes the midpoint of the first caster and the second caster. The mobile station control point coordinate system takes the control point of the mobile station as the origin. The mobile station control point coordinate system includes a longitudinal coordinate axis in the vertical direction and a third transverse coordinate axis and a fourth transverse coordinate axis perpendicular to the longitudinal coordinate axis.

12. The control method according to claim 4 or 5, characterized in that, The moving speed of the main operator handle includes the moving speeds of at least one main operator handle along the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system. The moving angular velocity of the main operator handle includes the moving angular velocity of the at least one main operator handle around the vertical coordinate axis of the reference coordinate system.

13. The control method according to claim 2, characterized in that, Further includes: Determine the target speed of the control point of the motion arm based on the moving speed of the main operator handle and the second control point speed mapping coefficient; and / or Determine the target angular velocity of the control point of the motion arm based on the moving angular velocity of the main operator handle and the second control point angular velocity mapping coefficient.

14. The control method according to claim 2, characterized in that, Further includes: Determine the target angular velocity of the control point of the motion arm based on the moving angular velocity of the main operator handle; and / or Determine the target speed of the control point of the motion arm based on the moving speed and moving angular velocity of the main operator handle.

15. The control method according to claim 14, characterized in that, Further includes: Determine the target speed of the reference point of the motion arm in the motion arm reference point coordinate system based on the moving speed of the main operator handle and the second reference point speed mapping coefficient; and / or Determine the target angular velocity of the reference point of the motion arm in the motion arm reference point coordinate system based on the moving angular velocity of the main operator handle and the second reference point angular velocity mapping coefficient.

16. The control method according to claim 15, characterized in that, Further includes: Determine the target angular velocity of the control point of the motion arm in the motion arm control point coordinate system based on the target angular velocity of the reference point of the motion arm in the motion arm reference point coordinate system and the rotation transformation relationship between the motion arm reference point coordinate system and the motion arm control point coordinate system; and / or Determine the target speed of the control point of the motion arm in the motion arm control point coordinate system based on the target speed and target angular velocity of the reference point of the motion arm in the motion arm reference point coordinate system, the rotation transformation relationship between the motion arm reference point coordinate system and the motion arm control point coordinate system, and the connection vector between the control point of the motion arm and the reference point of the motion arm.

17. The control method according to claim 16, characterized in that, The mobile station includes a second image acquisition device. The at least one robotic arm includes a platform disposed at the distal end of the robotic arm, and the second image acquisition device is disposed on the platform. The reference point of the robotic arm includes the camera reference point of the second image acquisition device. The robotic arm reference point coordinate system has the reference point of the robotic arm as the origin, and the robotic arm reference point coordinate system includes a longitudinal coordinate axis extending from the proximal end to the distal end along the camera optical axis, and a fifth transverse coordinate axis and a sixth transverse coordinate axis perpendicular to the longitudinal coordinate axis; and / or The control point of the robotic arm includes the remote center of motion (RCM) of the robotic arm. The robotic arm control point coordinate system has the remote center of motion as the origin, and includes a longitudinal coordinate axis extending from the proximal end to the distal end, and a seventh transverse coordinate axis and an eighth transverse coordinate axis perpendicular to the longitudinal coordinate axis.

18. The control method according to claim 13 or 14, characterized in that, It further includes: Generating a motion control instruction for the robotic arm based on the target velocity and / or target angular velocity of the control point of the robotic arm; and Controlling the motion of the robotic arm based on the motion control instruction of the robotic arm.

19. The control method according to claim 18, characterized in that, The robotic arm, or the robotic arm and the mobile station, includes at least one joint and at least one joint motor for driving the at least one joint. The method further includes: Determining the joint values and joint velocities of the at least one joint based on the target velocity and / or target angular velocity of the control point of the robotic arm in the robotic arm control point coordinate system; and Determining a drive control instruction for the at least one joint motor based on the joint values and joint velocities of the at least one joint.

20. The control method according to claim 19, characterized in that, The at least one joint includes: a lifting joint of the mobile station; and The first cross-arm rotation joint, the second cross-arm rotation joint, the first arc-arm rotation joint, the second arc-arm rotation joint, and the third arc-arm rotation joint of the robotic arm; or The at least one joint includes: The first cross-arm rotation joint, the second cross-arm rotation joint, the lifting joint, the first arc-arm rotation joint, the second arc-arm rotation joint, and the third arc-arm rotation joint of the robotic arm.

21. The control method according to claim 20, characterized in that, It further includes: Determining the joint values and joint velocities of the lifting joint of the mobile station, the first cross-arm rotation joint, and the second cross-arm rotation joint of the robotic arm based on the target velocity of the control point of the robotic arm; and Determining a drive control instruction for the joint motors for driving the lifting joint of the mobile station, the first cross-arm rotation joint, and the second cross-arm rotation joint of the robotic arm based on the joint values and joint velocities of the lifting joint of the mobile station, the first cross-arm rotation joint, and the second cross-arm rotation joint of the robotic arm; or Determining the joint values and joint velocities of the first cross-arm rotation joint, the second cross-arm rotation joint, and the lifting joint of the robotic arm based on the target velocity of the control point of the robotic arm; and Determining a drive control instruction for the joint motors for driving the first cross-arm rotation joint, the second cross-arm rotation joint, and the lifting joint of the robotic arm based on the joint values and joint velocities of the first cross-arm rotation joint, the second cross-arm rotation joint, and the lifting joint of the robotic arm; or Determine the joint values and joint speeds of the first arc arm rotary joint, the second arc arm rotary joint, and the third arc arm rotary joint of the moving arm based on the target angular velocity of the control point of the moving arm; And Determine the drive control commands for the joint motors of the first arc arm rotary joint, the second arc arm rotary joint, and the third arc arm rotary joint for driving the moving arm based on the joint values and joint speeds of the first arc arm rotary joint, the second arc arm rotary joint, and the third arc arm rotary joint of the moving arm.

22. The control method according to claim 2, characterized in that, The at least one master operator includes a left master operator and a right master operator, and the master operator operation information includes: Left master operator operation information received from the left master operator corresponding to the operation actions on the left master operator, and / or right master operator operation information received from the right master operator corresponding to the operation actions on the right master operator.

23. The control method according to claim 22, characterized in that, The master operator operation information includes the left master operator operation information and the right master operator operation information. Determining the moving speed of the master operator handle based on the master operator operation information includes: Determine the moving speed of the left master operator handle based on the left master operator operation information; Determine the moving speed of the right master operator handle based on the right master operator operation information; and Average the moving speed of the left master operator handle and the moving speed of the right master operator handle as the moving speed of the master operator handle; and / or Determining the moving angular velocity of the master operator handle based on the master operator operation information includes: Determine the moving angular velocity of the left master operator handle based on the left master operator operation information; Determine the moving angular velocity of the right master operator handle based on the right master operator operation information; Average the moving angular velocity of the left master operator handle and the moving angular velocity of the right master operator handle as the moving angular velocity of the master operator handle.

24. A surgical robot, characterized in that, Comprising: A mobile station, comprising: At least one moving arm, the at least one moving arm being movably arranged on the mobile station; A main control station, communicatively connected to the mobile station, comprising: At least one master operator, arranged on the main control station, for receiving operations of a user on the at least one master operator; A controller, configured to be capable of executing the motion control method of the robot system according to any one of claims 1 to 23.

25. The surgical robot according to claim 24, characterized in that, The mobile station includes at least one active caster and at least one caster motor for driving the at least one active caster, and the controller is communicatively connected to the at least one caster motor.

26. The surgical robot according to claim 24, wherein, The at least one moving arm includes at least one joint and at least one joint motor for driving the at least one joint, and the controller is communicatively connected to the at least one joint motor; And / or The mobile station includes at least one lifting joint and at least one joint motor for driving the at least one lifting joint, and the controller is communicatively connected to the at least one joint motor.

27. The surgical robot according to claim 24, wherein, The main control station includes: At least one mode selection device, for receiving a user's selection of a mobile station control mode or a moving arm control mode, and the controller is communicatively connected to the at least one mode selection device.

28. A computer-readable storage medium, wherein, For storing at least one instruction, when the at least one instruction is executed by a computer, it causes the computer to execute the motion control method of the robot system according to any one of claims 1 to 23.

Images