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. The robot system comprises a mobile station and an operating handle in communication connection with the mobile station, the operating handle comprises at least one inertial measurement unit, and the mobile station comprises at least one moving arm. The control method of the robot system includes: receiving handle operation information corresponding to an operation action on an operation handle from at least one inertial measurement unit of the operation handle; and controlling the movement of the mobile station or the at least one movement arm based on the handle operation information. According to the invention, a user can control the movement of the moving station or the moving arm by operating the operating handle, so that the intuition degree of control can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly 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, through 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 adjust at least one robotic arm to a suitable state according to the type of surgery, surgical location, etc., 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 poses of the mobile station and the robotic arms to poses 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 an operating handle communicatively connected to the mobile station. The operating handle includes at least one inertial measurement unit, and the mobile station includes at least one robotic arm. The control method includes:

[0006] Receiving handle operation information corresponding to an operation action on the operating handle from at least one inertial measurement unit of the operating handle; and

[0007] Based on the handle operation information, controlling the movement of the mobile station or at least one robotic arm.

[0008] In some embodiments, the present disclosure further 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] An operating handle for receiving an operation of a user on the operating handle;

[0012] A controller communicatively connected to the mobile station and the operating handle, and 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.

[0013] In some embodiments, the present disclosure also provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to execute the motion control method of the robot system according to any one of some embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for the description of 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, other embodiments can be obtained based on the content of the embodiments of the present disclosure and these drawings without creative efforts.

[0015] Figure 1 A flowchart showing the motion control method of the robot system according to some embodiments of the present disclosure;

[0016] Figure 2 A schematic block diagram showing the structure of a surgical robot according to some embodiments of the present disclosure;

[0017] Figure 3 A schematic diagram showing a surgical robot according to some embodiments of the present disclosure;

[0018] Figure 4A A flowchart showing the motion control method of the robot system according to some embodiments of the present disclosure;

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

[0020] Figure 5 A simplified schematic diagram showing the control points of a mobile station according to some embodiments of the present disclosure;

[0021] Figure 6 A simplified schematic diagram showing an operating handle according to some embodiments of the present disclosure;

[0022] Figure 7 A simplified schematic diagram showing a positioning device in a mobile station according to some embodiments of the present disclosure;

[0023] Figure 8 A flowchart showing the motion control method of the robot system according to some embodiments of the present disclosure;

[0024] Figure 9 A simplified schematic diagram showing the control points of a motion arm according to some embodiments of the present disclosure;

[0025] Figure 10 A schematic diagram showing the structure of a mobile station according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the technical problems solved by the present disclosure, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0027] 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 accompanying drawings. It 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 of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood 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 communication inside 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 close to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end, or rear part, and the end close to the surgical patient is defined as the distal end, distal part, front end, or front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0028] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in a 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, which 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 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.

[0029] 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. 6 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 partially 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). The robotic system can also include dedicated or general robotic systems for other fields (such as manufacturing, machinery, etc.). In some embodiments, the method 100 can be executed at least partially by a controller 230 of the surgical robot 200 as Figure 2 shown. 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). 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.

[0030] 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, an operating handle 220, and may further include a controller 230. The mobile station 210 may include at least one robotic arm 211. Figure 3 Schematic diagram showing a 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 at least one surgical instrument ( Figure 3 not shown, such as forceps, curved scissors, endoscope, etc.) may be mounted on the distal end of at least one robotic arm 211.

[0031] The operating handle ( Figure 3 not shown, such as Figure 6 the operating handle 220 shown) may be used to receive the user's operation on the operating handle. The operating handle 220 may include at least one inertial measurement unit (IMU). Those skilled in the art can understand that the inertial measurement unit can be used to detect the attitude of an object, the movement speed and angular velocity of the object, and the movement acceleration and angular acceleration of the object, etc. In the present disclosure, the inertial measurement unit is disposed in the operating handle. Based on this, the inertial measurement unit can be used to detect the attitude, movement speed and angular velocity of the operating handle, etc. In some embodiments, the operating handle 220 may be held and operated by the user. The controller 230 may be communicatively connected to the mobile station 210 and the operating handle 220 respectively. In some embodiments, the controller 230 may be disposed in the mobile station 210 or any suitable position in the surgical robot 200.

[0032] As Figure 3 shown, the surgical robot 200 may further include a master control station 240. The master control station 240 may include at least one master operator 241. At least one master operator 241 may be used to receive the user's operation on at least one master operator 241. The master control station 240 may be communicatively connected to the mobile station 210. During the operation, the mobile station 210 is usually located on the patient side. The user may issue a control instruction by operating at least one master operator 241 of the master control station 240 to control at least one surgical instrument carried by the mobile station 210 to perform a surgical operation on the patient.

[0033] As Figure 1As shown, in step 110, handle operation information corresponding to an operation action on the operation handle 220 is received from at least one inertial measurement unit 221 of the operation handle 220. Those skilled in the art can understand that the operation action on the operation handle 220 can be an action where a user (such as a medical staff member, etc.) holds the operation handle 220 and operates the operation handle 220. The operation action on the operation handle 220 can include: moving up and down, moving left and right, moving forward and backward, rolling clockwise, rolling counterclockwise, pitching, yawing, etc.

[0034] The handle operation information can include the measurement results of the inertial measurement unit 221 in the operation handle 220 when the user operates the operation handle 220. In some embodiments, the inertial measurement unit 221 can include a three-axis gyroscope and a three-axis accelerometer, which can be respectively used to measure the angular velocity around three mutually perpendicular dimensions in space and the linear acceleration along these three dimensions. Based on this, the handle operation information can include the six-dimensional motion amount of the operation handle in space, including the angular velocity around three mutually perpendicular dimensions in space and the linear acceleration along these three dimensions.

[0035] During operation, the user can hold the operation handle 220 and perform an operation on the operation handle 220. At least one inertial measurement unit 221 in the operation handle 220 can generate corresponding handle operation information, such as the translation distance, rotation angle, movement speed, movement angular velocity, movement acceleration, movement angular acceleration, etc. of the operation handle. In some embodiments, when the user operates the operation handle 220, at least one inertial measurement unit 221 can generate in real time the handle operation information corresponding to the user's operation on the operation handle 220. The robot system (such as the surgical robot 200) can receive the generated handle operation information from the inertial measurement unit 221. In some embodiments, the controller 230 of the surgical robot 200 can be communicatively connected to the inertial measurement unit 221 to receive the handle operation information from the inertial measurement unit 221.

[0036] As Figure 1As shown, in step 120, based on the handle operation information, the movement of the mobile station 210 or at least one robotic arm 211 is controlled. In some embodiments, method 100 may further include: receiving a selection of a control mode from at least one control mode selection device. 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 handle 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 handle operation information. The controller 230 of the surgical robot 200 may be communicatively connected to at least one control mode selection device to receive a selection of the control mode from at least one control mode selection device. In some embodiments, the control mode selection device may be in any suitable form such as a button, a key, a knob, etc. In some embodiments, at least one control mode selection device may be provided on the operating handle 220 for the user to select the control mode, for example, provided on the top of the operating handle (for example, Figure 6 the position indicated by 222 in), the circumferential side (for example Figure 6 the position indicated by 223 in) or the handle of the operating handle (for example Figure 6 the position indicated by 224 in) and other suitable positions.

[0037] 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, at least one caster may be provided at the bottom of the base 213 of the mobile station 210 to enable the movement of the mobile station 210. At least one caster may include at least one active caster. In some embodiments, at least one active 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 handle operation information received from the inertial measurement unit 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.

[0038] 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 handle operation information received from the inertial measurement unit 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.

[0039] In some embodiments, the method 100 may further include: receiving a trigger signal from a trigger; and establishing a control mapping relationship between the operation handle and the movement of the mobile station or at least one motion arm in response to receiving the trigger signal. In some embodiments, the method 100 may further include: receiving a release signal from the trigger; and disconnecting the control mapping relationship between the operation handle and the movement of the mobile station or at least one motion arm in response to receiving the release signal. Based on this, when the controller 230 of the surgical robot 200 receives a trigger signal from the trigger, it controls the movement of the mobile station or at least one motion arm based on the handle operation information received from the inertial measurement unit 221. While when a release signal is received from the trigger or the trigger is not triggered, the mobile station or the motion arm does not move following the action of the operation handle, which is beneficial to avoiding the movement of the mobile station or the motion arm following the user's misoperation.

[0040] In some embodiments, the trigger may be in any suitable form such as a button, a key, a toggle button, etc. In some embodiments, the trigger may be disposed on the operation handle (e.g., Figure 6 the operation handle 220 shown) to facilitate the user to operate the trigger, for example, disposed at the top of the operation handle (e.g., Figure 6 the position indicated by 222 in the figure) or the handle (e.g., Figure 6 the position indicated by 224 in the figure) and other suitable positions.

[0041] In some embodiments, when the user keeps pressing, toggling, or touching the trigger, the controller 230 can receive a trigger signal from the trigger, thereby establishing a control mapping relationship between the operating handle and the movement of the mobile station 210 or the robotic arm 211; when the user releases the trigger, the controller 230 can receive a release signal from the trigger (e.g., the release signal can be the interruption of a continuous trigger signal), thereby disconnecting the control mapping relationship between the operating handle 220 and the movement of the mobile station 210 or the robotic arm 211. In some embodiments, when the user presses, toggles, or touches the trigger, the controller 230 can receive a trigger signal from the trigger, thereby establishing a control mapping relationship between the operating handle and the movement of the mobile station 210 or the robotic arm 211; when the user presses, toggles, or touches the trigger again, the controller 230 can receive a release signal from the trigger, thereby disconnecting the control mapping relationship between the operating handle and the movement of the mobile station 210 or the robotic arm 211.

[0042] Based on method 100, the user can directly control the movement of the mobile station 210 or the robotic arm 211 by operating the operating handle 220. For example, before the operation, the user can operate the operating handle 220 to position the mobile station 210 (e.g., make the mobile station 210 be in a position close to the operating table and suitable for performing the operation), or operate the operating handle 220 to position the robotic arm 211 (e.g., make the RCM of the robotic arm 211 fall at the center of the patient's opening, suitable for connecting the surgical instrument to the robotic arm and feeding it into the patient's body).

[0043] Figure 4A A flowchart showing a motion control method 400a of a robotic system according to some embodiments of the present disclosure. Figure 4B A flowchart showing a motion control method 400b of a robotic system according to some embodiments of the present disclosure. Methods 400a and 400b can be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, methods 400a and 400b can be executed by a robotic system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, methods 400a and 400b can be executed at least in part by the controller 230 of the surgical robot 200 as shown in Figure 2 . In some embodiments, methods 400a and 400b 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). For example, the controller 230 of the surgical robot 200 can include a processor configured to execute methods 400a and 400b. In some embodiments, these instructions can be stored on a computer-readable storage medium.

[0044] As shown Figure 4A in FIG. 4, in step 410, based on the handle operation information, the moving speed of the operation handle is determined.

[0045] In some embodiments, when the user performs an operation on the operation handle (e.g., Figure 2 the operation handle 220 shown), the inertial measurement unit 221 in the operation handle 220 can generate handle operation information. For example, the handle operation information includes the linear acceleration vector of the operation handle 220, and the linear acceleration vector of the operation handle 220 may include the linear accelerations measured by the three-dimensional accelerometer included in the inertial measurement unit 221 along three mutually perpendicular dimensions in space. Further, the controller 230 of the surgical robot 200 can determine the moving speed of the operation handle 220 based on the handle operation information. For example, the controller 230 can integrate the linear acceleration vector of the operation handle 220 received from the inertial measurement unit 221 to obtain the velocity vector of the operation handle 220. Alternatively, the inertial measurement unit 221 can directly measure or calculate the velocity vector of the operation handle 220.

[0046] As shown Figure 4A in FIG. 5, in step 420, based on the moving speed of the operation handle and the moving station control point speed mapping coefficient, the target speed of the control point of the moving station in the moving station control point coordinate system is determined. In this step, the controller 230 of the surgical robot 200 can map the moving speed of the operation handle at a certain ratio to obtain the target speed of the control point of the moving station in the moving station control point coordinate system. In some embodiments, let v m represent the moving speed of the operation handle, let v c1 represent the target speed of the control point of the moving station in the moving station control point coordinate system, and let a represent the moving station 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 moving station in the moving station control point coordinate system based on v c1 and a through the following formula (1):

[0047] v c1 = av m (1)

[0048] Figure 5 FIG. 6 shows a simplified schematic diagram of the control point c1 of the moving station 210 according to some embodiments of the present disclosure. In some embodiments, as shown Figure 5 in FIG. 7, at least one active caster of the moving 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 shown Figure 5As 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 caster of the mobile station 210 ( Figure 5 not shown) may be a passive caster or an active caster. 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).

[0049] As Figure 4B shown, the method 400b may include step 430 and step 440. As Figure 4B shown, in step 430, based on the handle operation information, the moving angular velocity of the operating handle is determined. In some embodiments, when the user performs an operation on the operating handle (for example, Figure 2 the operating handle 220 shown), the inertial measurement unit 221 in the operating handle 220 may generate handle operation information. For example, the handle operation information may include the angular velocities along three mutually perpendicular dimensions in space measured by the three-dimensional gyroscope included in the inertial measurement unit 221. Based on this, in this step, the controller 230 of the surgical robot 200 may determine the moving angular velocity of the operating handle based on the handle operation information.

[0050] As Figure 4B shown, in step 440, based on the moving angular velocity of the operating handle and the moving station control point angular velocity mapping coefficient, the target angular velocity of the control point of the moving station in the moving station control point coordinate system is determined. In this step, the controller 230 of the surgical robot 200 may map the moving angular velocity of the operating handle at a certain ratio to obtain the target angular velocity of the control point of the moving station in the moving station control point coordinate system. In some embodiments, using ω m to represent the moving angular velocity of the operating handle, ω c1 to represent the target angular velocity of the control point of the moving station in the moving station control point coordinate system, and b to represent the moving station control point angular velocity mapping coefficient, the controller 230 of the surgical robot 200 may, based on ω m and b, determine the target angular velocity ω c1 of the control point of the moving station in the moving station control point coordinate system through the following formula (2):

[0051] ω c1 = bω m (2)

[0052] Through method 400a and method 400b, the target velocity v c1 and / or the target angular velocity ω c1 of the control point of the moving station in the moving station control point coordinate system can be determined. Those skilled in the art can understand that [v determined based on formula (1) and formula (2)c1 ω c1 T to control the movement of the control point of the mobile station, and the control point of the mobile station can follow the movement of the operating handle [v m ω m T and move. In some embodiments, the sensitivity of the control point of the mobile station following the movement of the operating handle can be adjusted by setting the specific values of the speed mapping coefficient a of the control point of the mobile station and the angular velocity mapping coefficient b of the control point of the mobile station in formulas (1) and (2). For example, when the absolute values of the speed mapping coefficient a of the control point of the mobile station and the angular velocity mapping coefficient b of the control point of the mobile station are larger, the sensitivity of the control point of the mobile station following the movement of the operating handle is higher.

[0053] In some embodiments, as Figure 5 shown, the control point coordinate system {c1} of the mobile station can have the control point c1 of the mobile station 210 as the origin, and the control point coordinate system {c1} of the mobile station can include a longitudinal coordinate axis in the vertical direction (not shown in the figure) and a first transverse coordinate axis perpendicular to the longitudinal coordinate axis (for example, Figure 5 the x-axis shown) and a second transverse coordinate axis (for example, Figure 5 the y-axis shown). In some embodiments, the first transverse coordinate axis (for example, Figure 5 the x-axis shown) can 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 can be any suitable coordinate system.

[0054] 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 can include movements in three degrees of freedom: linear movements along the first transverse coordinate axis (such as Figure 5 the x-axis shown) and the second transverse coordinate axis (such as Figure 5 the y-axis shown), and rotational movements around the longitudinal coordinate axis.

[0055] The movement of the operating handle in space can include movements in six degrees of freedom, which can include rotational degrees of freedom around three mutually perpendicular coordinate axes in the reference coordinate system in space, and translational degrees of freedom along the above three coordinate axes. The moving speed v m and the moving angular velocity ω m involved in formulas (1) and (2) can be the moving speed and the moving angular velocity of the operating handle in the reference coordinate system. Figure 6 shows a simplified schematic diagram of the operating handle 220 according to some embodiments of the present disclosure. As Figure 6 ​​As shown, the operating handle 220 may include an inertial measurement unit 221, and the inertial measurement unit 221 may be disposed in the operating handle. In some embodiments, the reference coordinate system (e.g., Figure 6 the coordinate system {O} shown) may have the center O of the inertial measurement unit 211 as the origin, and the reference coordinate system {O} may include a vertical coordinate axis in the vertical direction (such as Figure 6 the coordinate axis z shown) and a first horizontal coordinate axis and a second horizontal coordinate axis perpendicular to the vertical coordinate axis (such as Figure 6 the coordinate axis x and the coordinate axis y shown). Those skilled in the art can understand that the reference coordinate system for determining the moving speed and moving angular velocity of the operating handle is not limited to the coordinate system {O} shown in Figure 6 , and it can be any suitable coordinate system.

[0056] In some embodiments, the method 400a or the method 400b may further include: based on the movement of the operating handle in three degrees of freedom, determining the movement of the control point of the mobile station that can be achieved in three degrees of freedom. In some embodiments, among the movements of the operating handle in three degrees of freedom, the moving speed of the operating handle may include the moving speeds v Figure 6 of the operating handle (e.g., Figure 6 the operating handle 220 shown) along the first horizontal coordinate axis of the reference coordinate system (e.g., Figure 6 the coordinate axis x shown) and the second horizontal coordinate axis (e.g., mx and v my ), and the moving angular velocity of the operating handle may include the moving angular velocity ω Figure 6 of the operating handle around the vertical coordinate axis of the reference coordinate system (e.g., mz the coordinate axis z shown). Based on this, the movement t m of the operating handle can be determined as t mx = [v my v mz 0 0 0 ω T . In this embodiment, the selection of the degrees of freedom of the operating 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 movement of the operating handle are not limited to the above three degrees of freedom, and other suitable selection methods can also be used.

[0057] 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 operating handle generated by the user's operation on the operating 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 process of preoperatively adjusting 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 in the control point coordinate system 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.

[0058] 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, which can be disposed 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 in the control point coordinate system 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.

[0059] 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):

[0060]

[0061] 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), D is the distance between the left active caster and the right active caster. Among them, v c 1 and ω c1 can be the moving speed and moving angular velocity of the control point of the mobile station in the control point coordinate system of the mobile station. According to formula (3), in some embodiments, based on the target speed v of the control point of the mobile station in the control point coordinate system of the mobile stationc1 and / or the target angular velocity ω c1 , the target speed of at least one active caster can be determined using the following formula (4):

[0062]

[0063] where v cr is the target speed of the right active caster of the mobile station (e.g., Figure 5 the caster 214b shown), v cl is the target speed of the left active caster of the mobile station (e.g., Figure 5 the caster 214c shown).

[0064] In some embodiments, after determining the target speed of at least one active caster, the motion control instructions for at least one caster motor can be determined using the following formulas (5) and (6):

[0065]

[0066]

[0067] where rpm cl is the motion control instruction for the left active caster (e.g., RPM (revolutions per minute) instruction), v cl is the target speed of the left active caster, rpm cr is the motion control instruction for the right active caster (e.g., RPM instruction), v cr is the target linear speed of the right active caster, and r wheel is the radius of the active caster.

[0068] In some embodiments, method 400a or method 400b may further include: receiving a selection of a scene mode from at least one scene mode selection device. The scene mode may include a left-hand mode or a right-hand mode, etc. The controller 230 of the surgical robot 200 may be communicatively connected to at least one scene mode selection device to receive a selection of the scene mode from at least one scene mode selection device. The scene mode selection device may be in any suitable form such as a button, a key, a knob, etc. At least one scene mode selection device may be disposed on the operation handle 220 to facilitate the user's selection of the scene mode, for example, disposed on the circumferential side of the operation handle (such as Figure 6 the position indicated by 223 in) or the handle (such as Figure 6at a suitable position such as the position indicated by 224 in the figure. At least one scene mode selection device may further include at least one sensor (such as a pressure sensor, etc.) disposed in the operation handle 220. Those skilled in the art can understand that the positions where each finger holds the operation handle when the user holds the operation handle with the left hand are different from those when the user holds the operation handle with the right hand. Based on this, by disposing a plurality of pressure sensors at different positions in the operation handle 220, it is possible to detect which position of the operation handle 220 is held by the user, and thus it is possible to determine whether the user holds the operation handle 220 with the left hand or the right hand. The scene mode selection device can thus automatically identify whether the user holds the operation handle with the left hand or the right hand, and thus can automatically determine the scene mode selected by the user.

[0069] In some embodiments, method 400a or method 400b may further include: determining a mobile station control point speed mapping coefficient or a mobile station control point angular velocity mapping coefficient according to the received scene mode. Based on this, it is convenient for the controller 230 of the surgical robot 200 to identify the intention of the operation action of the surgical robot user, which is beneficial to improving the user's operation experience. For example, in the case where the user selects the left hand mode, the user holds the operation handle (such as Figure 6 the operation handle 220 shown in the figure) with the left hand and performs an operation on the operation handle. The controller 230 may determine that the mobile station control point speed mapping coefficient is a value greater than zero. Based on this, the moving speed v of the mobile station control point determined by formula (1) c1 is in the same direction as the moving speed v of the operation handle m For example, in the case where the user wants to control the mobile station to move to the left, the user holds the operation handle 220 and moves it in the Figure 6 negative direction of the coordinate axis y shown in the figure (the direction of v m is Figure 6 the negative direction of the coordinate axis y in the figure), and the control point of the mobile station is moved by v m in the same direction as the direction of v c1 so that the control point moves in the negative direction of the coordinate axis y of the coordinate system {c1} shown in the figure, that is, moves to the left side of the mobile station. Figure 5 In the case where the user selects the right hand mode, the controller 230 may determine that the mobile station control point speed mapping coefficient is a value less than zero. Based on this, the v determined by formula (1)

[0070] is in the opposite direction to v c1 For example, in the case where the user wants to control the mobile station to move to the left, the direction of v m is m the positive direction of the coordinate axis y shown in the figure, and the control point of the mobile station is moved by v Figure 6 in the opposite direction to the direction of v m so that the control point moves in the negative direction of the coordinate axis y of the coordinate system {c1} shown in the figure, that is, moves to the left side of the mobile station. c1Controlling the movement of the control point of the mobile station enables the control point to move in the negative direction of the y-axis of the coordinate system {c1} shown in Figure 5 . Based on this, the mobile station can be made to move following the user's operation intention, achieving intuitive operation.

[0071] In some embodiments, while observing the mobile station, the user can operate the operating handle to control the movement of the mobile station and determine how to operate the operating handle subsequently based on the movement of the mobile station. In some embodiments, the user can directly stand near the mobile station to observe it, or observe the mobile station by viewing the images collected by the image acquisition device (e.g., set in the operating room) in the display of the surgical robot, etc.

[0072] In some embodiments, the user makes the mobile station move into position by operating the operating handle. For example, it moves to a position near the operating table suitable for connecting the robotic arm and the sheath tube. After the user makes the mobile station move into position by operating the operating handle, 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.

[0073] The user can determine whether the mobile station has moved into position in various ways. In some embodiments, the mobile station can include at least one positioning device for the user to determine whether the mobile station is in position. Figure 7 A simplified schematic diagram of the positioning device in the mobile station according to some embodiments of the present disclosure is shown. As Figure 7 shown, the mobile station can include a column 720, a cross beam 730, and positioning devices (e.g., a first positioning device 740 and a second positioning device 750) provided in the mobile station. In some embodiments, the positioning device can be a laser positioning device or other types of positioning devices. The positioning device can be provided on the lower surface of the cross beam 730, and the positioning device can be located on the center line of the cross beam 730. In some embodiments, as Figure 7 shown, the first positioning device 740 projects a circular cursor downward, and the second positioning device 750 projects a cross-shaped cursor downward.

[0074] In some embodiments, it can be determined whether the mobile station is in position according to the distance between the projection of the first positioning device 740 or the second positioning device 750 on the patient on the operating table 710 and the position of the patient's opening. For example, when the center of the cross-shaped cursor projected by the second positioning device 750 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. In some embodiments, the user can directly check beside the mobile station whether the center of the cross-shaped cursor is located at the patient's opening to determine whether the mobile station is in position. In some embodiments, the mobile station can further include an image acquisition device, and the image acquisition device can be provided below the cross beam 730. For example, it is provided inFigure 7 The position between the first positioning device 740 and the second positioning device 750 indicated by 7a. The camera optical axis of the image acquisition device can be vertically downward, so that the cursor projected by the first positioning device 740 and / or the second positioning device 750 falls within the field of view of the first image acquisition device. Based on this, the user can view the cursor projected by the first positioning device 740 and / or the second positioning device 750 on the display of the surgical robot, and determine whether the mobile station is in place based on the cursor position.

[0075] Figure 8 The flowchart of the motion control method 800 of the robot system according to some embodiments of the present disclosure is shown. The method 800 can be implemented or executed at least partially by hardware, software, or firmware. In some embodiments, the method 800 can be executed by a robot system (e.g., Figure 2 the surgical robot 200 shown). In some embodiments, the method 800 can be executed at least partially by the controller 230 of the surgical robot 200 as Figure 2 shown. In some embodiments, the method 800 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). For example, the controller 230 of the surgical robot 200 can include a processor configured to execute the method 800. In some embodiments, these instructions can be stored on a computer-readable storage medium.

[0076] As Figure 8 shown, in step 810, based on the moving speed of the operation handle and the motion arm control point speed mapping coefficient, the target speed of the control point of the motion arm in the motion arm control point coordinate system is determined. In this step, the controller 230 of the surgical robot 200 can map the moving speed of the operation handle at a certain ratio to obtain the target speed of the control point of the motion arm in the motion arm control point coordinate system. In some embodiments, using v m to represent the moving speed of the operation handle, v c2 to represent the target speed of the control point of the motion arm in the motion arm control point coordinate system, and c to represent the motion arm 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 motion arm in the motion arm control point coordinate system based on v c2 and c through the following formula (7):

[0077] v c2 = cv m (7)

[0078] Figure 9 The simplified schematic diagram of the control point of the motion arm 910 according to some embodiments of the present disclosure is shown. AsFigure 9 As shown, the moving arm 910 is disposed on the mobile station 900. The mobile station 900 may further include a base 920, a column 930 disposed on the base 920, and a cross beam 940 disposed on the column 930. As Figure 9 shown, the mobile station 900 may include a lifting joint J1, and the moving arm 910 may include joints J2 to J6. In some embodiments, the surgical robot 200 may include the mobile station 900.

[0079] In some embodiments, as Figure 9 shown, the control point of the moving arm may include a sheath insertion point into the abdomen, such as a remote center of motion (RCM). The RCM point may be the origin of the coordinate system {RCM} as Figure 9 shown. In some embodiments, as Figure 9 shown, the rotation axes of joint J4, the rotation axis of joint J5, and the rotation axis of joint J6 intersect at the remote center of motion (RCM) point, which is the origin of the coordinate system {RCM} as Figure 9 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 moving arm carries the surgical instrument to enable the surgical instrument to move around the RCM for adjustment of the position or surgical operation. The control point coordinate system of the moving arm may be the coordinate system {RCM} as Figure 9 shown. The coordinate system {RCM} may have the remote center of motion of the moving arm as the origin. The coordinate system {RCM} may further include a longitudinal coordinate axis extending from the proximal end to the distal end (e.g., Figure 9 the coordinate axis x of the coordinate system {RCM} shown) and a first transverse coordinate axis and a second transverse coordinate axis perpendicular to the longitudinal coordinate axis (e.g., Figure 9 the coordinate axis y and the coordinate axis z of the coordinate system {RCM} shown). Those skilled in the art can understand that the control point coordinate system of the moving arm is not limited to the coordinate system {RCM} described above, and may also be any suitable coordinate system. For example, it may be a coordinate system having the remote center of motion of the moving arm as the origin and including a vertical coordinate axis in the vertical direction and two horizontal coordinate axes perpendicular to the vertical coordinate axis.

[0080] In some embodiments, the control point of the moving arm may include a sheath fixing point. For example, the sheath is fixedly connected to the end of the moving arm through a sheath fixing clip to form a sheath fixing point. In this way, the sheath fixing point may be the center of the end of the sheath fixing clip. For example, the sheath fixing point may be the origin of the coordinate system {TRB} as Figure 9 shown.

[0081] As Figure 8As shown, in step 820, based on the moving angular velocity of the operating handle and the angular velocity mapping coefficient of the moving arm control point, the target angular velocity of the moving arm control point in the moving arm control point coordinate system is determined. In this step, the controller 230 of the surgical robot 200 can map the moving angular velocity of the operating handle to the target angular velocity of the moving arm control point in the moving arm control point coordinate system in a certain proportion. In some embodiments, ω m The angular velocity of the operating handle is expressed as ω c2 The controller 230 of the surgical robot 200 can represent the target angular velocity of the control point of the motion arm in the motion arm control point coordinate system, and d represents the motion arm control point angular velocity mapping coefficient. m and d, the target angular velocity ω of the control point of the moving arm in the coordinate system of the moving arm control point is determined by the following formula (8): c2 :

[0082] ω c2 =dω m (8)

[0083] In some embodiments, the controller 230 of the surgical robot 200 may execute the method 800 upon receiving a selection of the motion arm control mode. Those skilled in the art may understand that [v c2 ω c2 ] T To control the movement of the control point of the motion arm, the control point of the motion arm can follow the movement of the operating handle [v m ω m ] T In some embodiments, the sensitivity of the control point of the moving arm to follow the movement of the operating handle can be adjusted by setting the specific values ​​of the velocity mapping coefficient c of the moving arm control point and the angular velocity mapping coefficient d of the moving arm control point in formula (7) and formula (8).

[0084] In some embodiments, the method 800 may further include: generating a motion control instruction for the motion arm based on a target velocity and / or target angular velocity of the control point of the motion arm in the coordinate system of the control point of the motion arm; and controlling the motion of the motion arm based on the motion control instruction of the motion arm. c2 ω c2 ] T Movement, the user can control the movement of the control point of the motion arm by operating the operating handle.

[0085] In some embodiments, Figure 9As shown, the mobile station 900 may include a moving arm 910, a base 920, a column 930, and a cross beam 940. The mobile station 900 and the moving arm 910 may include at least one joint, such as Figure 9 the joints J1 to J6 shown. For the moving arm 910 as Figure 9 shown, generating the motion control instructions for the moving arm may include: determining the joint values and joint speeds of at least one joint (e.g., Figure 9 the joints J1 to J6 shown) based on the target speed and / or target angular speed of the control point of the moving arm 910 in the control point coordinate system of the moving arm; and determining the drive control instructions for at least one joint motor based on the joint values and joint speeds 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.

[0086] In some embodiments, as Figure 9 shown, the moving arm 910 may include at least one arm body, e.g., Figure 9 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 9 shown, the proximal and distal ends of the multiple arm bodies are respectively rotatably connected in sequence 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, the at least one joint included in the mobile station 900 and the moving arm 910 may include: the lifting joint J1 of the mobile station 900, the first cross arm rotation joint J2, the second cross arm rotation joint J3, the first arc arm rotation joint J4, the second arc arm rotation joint J5, and the third arc arm rotation joint J6 of the moving arm 910. Among them, the lifting joint J1 is disposed between the main cross beam 920 and the main column 930 for lifting the main cross beam 920, and thus changing the lifting position of the control point of the moving arm 910; 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 moving arm 910, 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, e.g., can be converted between fully folded, fully extended, and intermediate positions.

[0087] In some embodiments, method 800 may further include: determining joint values and joint speeds of the lifting joint J1 of the mobile station 900, the first cross-arm rotation joint J2 of the moving arm 910, and the second cross-arm rotation joint J3 based on the target speed of the control point of the moving arm 910 in the moving arm control point coordinate system; and determining drive control commands for the joint motors that drive the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2 of the moving arm, and the second cross-arm rotation joint J3 based on the joint values and joint speeds of the lifting joint J1 of the mobile station, the first cross-arm rotation joint J2 of the moving arm, and the second cross-arm rotation joint J3. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the lifting joint J1 of the mobile station 900, the first cross-arm rotation joint J2 of the moving arm 910, and the second cross-arm rotation joint J3 to move based on the target speed of the control point of the moving arm 910, so as to adjust the position of the control point of the moving arm 910.

[0088] Figure 10 FIG. shows a schematic structural diagram of a mobile station 600 according to some embodiments of the present disclosure. As Figure 10 shown, the mobile station 600 may include a moving arm 610. The moving arm 610 may include at least one joint, for example, Figure 10 the joints 6111-6161 shown. For the moving arm 610 as Figure 10 shown, generating motion control commands for the moving arm may further include: determining joint values and joint speeds of at least one joint (for example, joints 6111 to 6161) based on the target speed and / or target angular velocity of the control point of the moving arm 610 in the moving arm control point coordinate system; and determining drive control commands for at least one joint motor based on the joint values and joint speeds 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. The controller 230 of the surgical robot 200 may drive at least one joint motor based on the drive control commands of at least one joint motor, so 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 velocity, thereby realizing the control of the movement of the moving arm.

[0089] Denote the target speed and target angular velocity 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 , and using the differential kinematics model, the following formula (9) can be obtained:

[0090] ​

[0091] Among them, is the Jacobian matrix, J vi represents the partial derivative of the control point velocity vector with respect to the velocity of the i-th joint, J ωi represents the partial derivative of the angular velocity vector of the control point coordinate system with respect to the velocity of the i-th joint, represents the joint velocity of the i-th joint. The i-th joint can include the 1st joint to the 6th joint, and can be respectively Figure 10 the joints 6111 to 6161 shown. For example, J v1 represents the target velocity vector v of the control point c2 with respect to Figure 10 the partial derivative of the joint velocity of the joint 6111 shown, J ω1 represents the target angular velocity vector ω of the control point c2 with respect to Figure 10 the partial derivative of the joint velocity of the joint 6111 shown, J v2 represents the target velocity vector v of the control point c2 with respect to Figure 10 the partial derivative of the joint velocity of the joint 6121 shown, J ω2 represents the target angular velocity vector ω of the control point c2 with respect to Figure 10 the partial derivative of the joint velocity of the joint 6121 shown, represents Figure 10 the joint velocity of the joint 6111 shown, represents Figure 10 the joint velocity of the joint 6121 shown, and so on for other joints.

[0092] After determining the target velocity and target angular velocity of the control point of the robotic arm in the control point coordinate system of the robotic arm, the joint values and joint velocities of at least one joint can be calculated through the Jacobian pseudo-inverse. 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 control point coordinate system of the robotic arm through the following formulas (10) and (11):

[0093]

[0094]

[0095] Among them, q is the joint value vector of at least one joint, is the joint velocity vector of at least one joint, J + is the pseudo-inverse matrix of the Jacobian matrix J.

[0096] In some embodiments, such as Figure 10As shown, the moving arm 610 may include at least one arm body, such as Figure 10 the first cross arm 611, the second cross arm 612, the vertical arm 613, the first arc arm 614, the second arc arm 615, and the third arc arm 616 shown. In some embodiments, as Figure 10 shown, at least one joint included in the moving arm 610 may include: a first cross arm rotation joint 6111, a second cross arm rotation joint 6121, a lifting joint 6131, a first arc arm rotation joint 6141, a second arc arm rotation joint 6151, and a third arc arm rotation joint 6161. Among them, the first cross arm rotation joint 6111 is used to connect the first cross arm 611 and the main cross beam 620 of the mobile station 600; the second cross arm rotation joint 6121 is used to connect the second cross arm 612 and the first cross arm 611; the lifting joint 6131 is provided on the vertical arm 613 and is used to realize the lifting of the control point of the moving arm; the first arc arm rotation joint 6141 is used to connect the vertical arm 613 and the first arc arm 614; the second arc arm rotation joint 6151 is used to connect the first arc arm 614 and the second arc arm 615; the third arc arm rotation joint 6161 is used to connect the second arc arm 615 and the third arc arm 616.

[0097] In some embodiments, the method 900 may further include: determining the joint values and joint speeds of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 610 based on the target speed of the control point of the moving arm 610 in the moving arm control point coordinate system; and determining the drive control instructions for the joint motors of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 for driving the moving arm 601 based on the joint values and joint speeds of the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 610. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the first cross arm rotation joint 6111, the second cross arm rotation joint 6121, and the lifting joint 6131 of the moving arm 610 to move based on the target speed of the control point of the moving arm 610 in the moving arm control point coordinate system, so as to realize the adjustment of the position of the control point of the moving arm 610.

[0098] In some embodiments, method 800 may further include: determining joint values and joint speeds of the first arc arm rotating joint, the second arc arm rotating joint, and the third arc arm rotating joint of the moving arm (e.g., moving arm 610 or moving arm 910) based on the target angular velocity of the control point of the moving arm; and determining drive control instructions for the joint motors driving the first arc arm rotating joint, the second arc arm rotating joint, and the third arc arm rotating joint of the moving arm based on the joint values and joint speeds of the first arc arm rotating joint, the second arc arm rotating joint, and the third arc arm rotating joint of the moving arm. Based on this embodiment, the controller 230 of the surgical robot 200 can drive the first arc arm rotating joint, the second arc arm rotating joint, and the third arc arm rotating joint of the moving arm (e.g., joints 6141 - 6161 of moving arm 610 or joints J4 - J6 of moving arm 910) to move based on the target angular velocity of the control point of the moving arm, thereby adjusting the posture of the control point of the moving arm.

[0099] In some embodiments, method 800 may further include: receiving a selection of a left - hand mode or a right - hand mode from at least one scene mode selection device. In some embodiments, the controller 230 of the surgical robot 200 may determine a moving - arm control - point speed mapping coefficient or a moving - arm control - point angular - velocity mapping coefficient according to the received scene mode. Based on this, it is convenient for the controller 230 to identify the intention of the operation actions of the surgical - robot user, which is beneficial to improving the user's operation experience. In some embodiments, in response to receiving the user's selection of the left - hand mode, the controller may determine that the moving - arm control - point speed mapping coefficient is a value greater than zero. Based on this, the moving speed v of the control point of the moving arm determined by formula (7) c2 is in the same direction as the moving speed v of the operation handle. m In response to receiving the user's selection of the right - hand mode, the controller may determine that the moving - arm control - point speed mapping coefficient is a value less than zero, so that the determined moving speed v of the control point of the moving arm c2 is in the opposite direction to the moving speed v of the operation handle. m Thus, the user can intuitively control the movement of the control point of the moving arm whether operating the operation handle with the left hand or the right hand.

[0100] In some embodiments, the user can operate the operation handle to control the movement of the moving arm while observing the moving arm, and determine how to operate the operation handle subsequently according to the movement of the moving arm. In some embodiments, the user can directly stand near the end of the moving arm to observe the position of the control point of the moving arm and determine whether the control point of the moving arm is in place.

[0101] In some embodiments, the mobile station may include an image acquisition device. For example, the image acquisition device may be disposed at the distal end of the moving arm in the mobile station (e.g., Figure 9 the distal end of the platform provided by the third arc arm B5 shown in Figure 9 the position indicated by 9a in Figure 9 In some embodiments, the camera optical axis of the image acquisition device (such as Figure 9 the straight line p shown in Figure 9 the origin of the coordinate system {RCM} shown in

[0102] The user can determine whether the control point of the moving arm is in place by observing the field of view provided by the image acquisition device in the display of the surgical robot. In some embodiments, the display may also display at least one auxiliary line while displaying the field of view of the image acquisition device, and the user can use the at least one auxiliary line to determine whether the moving arm is in place. For example, when the user observes that at least one auxiliary line displayed on the display coincides with the auxiliary line on the inner wall of at least one channel provided by the sheath tube, it can be determined that the moving arm has moved into place. When at least one auxiliary line displayed on the display coincides with the 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 moving arm can enter the patient's body through the channel provided by the sheath tube in this state, thus indicating that the moving arm is in place. Figure 7 The user can determine whether the height of the control point of the moving arm is in place or appropriate in various ways. In some embodiments, the user can use the first positioning device 740 and the second positioning device 750 as shown in Figure 9 the lifting joint J1 shown in Figure 10 the lifting joint 6131 shown in Figure 7 the state of the circular cursor and the cross-shaped cursor shown in

[0103] In some embodiments, when the surgical robot is in the moving arm control mode and it is difficult for the user to move the moving arm into position by operating the operation handle, 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 moving arm control mode again to adjust the pose of the control point of the moving arm until the control point is in position.

[0104] In some embodiments, the controller 230 of the surgical robot system 200 may receive handle operation information corresponding to the operation actions of the operation handle (e.g., operation handle 220) from at least one inertial measurement unit of the operation handle, and determine the translation distance and / or rotation angle of the operation handle 220 according to the handle operation information. Further, the controller 230 may determine the translation distance and / or rotation angle of the mobile station (e.g., Figure 3 or Figure 5 the mobile station 210 shown) or at least one moving arm (e.g., Figure 9 the moving arm 910 shown) based on the translation distance and / or rotation angle of the operation handle 220.

[0105] In some embodiments, the controller 230 may perform double integration on the linear acceleration measured by the accelerometer in the inertial measurement unit of the operation handle 220 to obtain the translation distance of the operation handle 220, and may perform integration on the angular velocity measured by the gyroscope in the inertial measurement unit to obtain the rotation angle of the operation handle 220. The translation distance and rotation angle of the operation handle 220 may be the translation distance and rotation angle of the operation handle 220 in the reference coordinate system, and the reference coordinate system may be any suitable coordinate system such as the coordinate system {O} shown or the world coordinate system, etc. Figure 6 shown or the world coordinate system or any other suitable coordinate system.

[0106] In some embodiments, the controller 230 may determine the target translation distance S of the control point of the mobile station based on the translation distance S of the operation handle 220 m through the following formula (12), and determine the target rotation angle θ of the control point of the mobile station based on the rotation angle θ of the operation handle 220 c1 through the following formula (13): m : c1

[0107] S c1 = αS m (12)

[0108] θ c1 = βθ m (13)

[0109] Among them, α is the translation distance mapping coefficient of the mobile station, and β is the rotation angle mapping coefficient of the mobile station. In some embodiments, the value of α can be 1. Based on this, when the translation distance of the operating handle 220 is 0.3 meters along the x-axis (for example, the x-axis of the reference coordinate system of the operating handle 220), it can be determined that the target translation distance of the control point c1 of the mobile station 210 is 0.3 meters along the x-axis (for example, Figure 5 the x-axis of the control point coordinate system {c1} of the mobile station shown), and then the control point c1 of the mobile station 210 can be controlled to translate 0.3 meters along the x-axis. Those skilled in the art can understand that the present disclosure does not limit the values of α and β. In practical applications, α and β can be set to any appropriate values according to requirements.

[0110] In some embodiments, after determining the target translation distance S c1 and / or the target rotation angle θ c1 of the control point of the mobile station, the controller 230 can generate a motion control instruction for the mobile station (for example, the caster motor in the mobile station for driving the active caster to move) based on S c1 and / or θ c1 and control the movement of the mobile station with this motion control instruction, so that the mobile station can move with S c1 and / or θ c1 .

[0111] In some embodiments, the controller 230 can determine the target translation distance S m of the control point of the motion arm through the following formula (14) based on the translation distance S c2 of the operating handle 220, and determine the target rotation angle θ m of the control point of the motion arm through the following formula (15) based on the rotation angle θ c2 of the operating handle 220:

[0112] S c2 = χS m (14)

[0113] θ c2 = δθ m (15)

[0114] Among them, χ is the translation distance mapping coefficient of the motion arm, and δ is the rotation angle mapping coefficient of the motion arm. In some embodiments, the value of δ can be 1. Based on this, when the rotation angle of the operating handle 220 is 30 degrees around the y-axis (for example, the y-axis of the reference coordinate system of the operating handle 220), it can be determined that the target rotation angle of the control point c2 of the motion arm 910 is around the y-axis (for example, Figure 9Rotate the y-axis of the control point coordinate system {RCM} of the shown moving arm by 30 degrees. Furthermore, the control point c2 of the moving arm 910 can be controlled to rotate by 30 degrees around the y-axis. Those skilled in the art can understand that the present disclosure does not limit the values of χ and δ. In practical applications, χ and δ can be set to any suitable values according to requirements.

[0115] When determining the target translation distance S of the control point of the moving arm c2 and / or the target rotation angle θ c2 After that, the controller 230 can be based on S c2 and / or θ c2 Generate a motion control instruction for the moving arm (for example, the joint motor in the moving arm used to drive the joint movement), and control the movement of the moving arm with this motion control instruction, so that the moving arm can move at S c2 and / or θ c2 Move.

[0116] Based on the above embodiments, the controller 230 can determine the translation distance and / or rotation speed of the operating handle during the time between receiving the trigger signal and the release signal from the trigger, and after receiving the release signal from the trigger, control the mobile station or the moving arm to perform corresponding movements according to the translation distance and / or rotation speed of the operating handle. When the user operates the operating handle, it is generally difficult to operate at a steady speed. Based on the above embodiments, the mobile station or the moving arm can be controlled to move a target translation distance and / or a target rotation angle at a preset speed, and the mobile station or the moving arm will not respond to the movement speed of the operating handle, which is beneficial to move more smoothly.

[0117] Some embodiments of the present disclosure also provide a surgical robot 200. Figure 3 A schematic diagram showing the 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, an operating handle ( Figure 3 Not shown, for example Figure 6 The shown operating handle 220) and a controller ( Figure 3 Not shown, for example Figure 6 The shown controller 230). As Figure 3As shown, the mobile station 210 may include at least one moving arm 211, and at least one moving arm 211 is movably arranged on the mobile station 210. The mobile station 210 and the operation handle may be communicatively connected to the controller. For example, the communication connection may be achieved in a wired transmission or wireless transmission manner. The operation handle may be used to receive the operation of the user on the operation handle. The operation handle can be held by the user and perform operations. The controller may be 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 (for example, methods 100, 400a, 400b, 800, etc.). In some embodiments, the controller may be disposed at any suitable position in the mobile station 210 or the surgical robot 200. In some embodiments, the controller may be communicatively connected to the mobile station 210 and the operation handle respectively, so as to receive the handle operation information from the operation handle and control the movement of the mobile station 210 or at least one moving arm 211. In some embodiments, the user can hold the operation handle and perform operations to control the movement of the mobile station 210 or at least one moving arm 211 arranged on the mobile station 210.

[0118] In some embodiments, as Figure 3 shown, the surgical robot 200 may further include a main control station 240. The main control station 240 may be communicatively connected to the mobile station 210. The connection between the main control station 240 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 main control station 240.

[0119] The main control station 240 may include at least one main operator 241. At least one main operator 241 is arranged on the main control station 240 and is used to receive the operation of the user on at least one main operator 241. As Figure 3 shown, in some embodiments, at least one main operator 241 may include a left main operator 241a for receiving the operation of the user's left hand and a right main operator 241b for receiving the operation 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 main operator 241 in the main control station 240.

[0120] In some embodiments, at least one moving arm 211 may include at least one joint (for example, Figure 10 the moving arm 610 shown may include joints 6111-6161) and at least one joint motor for driving at least one joint (not shown in the figure, and each joint motor may be disposed at the joint driven by the joint motor). The controller 230 may be communicatively connected to at least one joint motor. Based on this, the controller can determine the drive control instruction for driving at least one joint motor based on the received handle operation information, so as to realize the control of the movement of at least one moving arm.

[0121] In some embodiments, the mobile station 210 may further include at least one lifting joint (e.g., the lifting joint 6131 included in the illustrated moving arm 610), and at least one joint motor for driving the at least one lifting joint (not shown in the figure and may be disposed at the lifting joint). The controller 230 may be communicatively connected to the at least one joint motor. Based on this, the controller can determine a drive control instruction for driving the at least one joint motor based on the received handle operation information, so as to adjust the position (e.g., height) of the control point of the at least one moving arm. Figure 10

[0122] In some embodiments, the mobile station 210 may further include at least one active caster (e.g., the casters 214b and 214c shown), and at least one caster motor for driving the at least one active caster (not shown in the figure and may be disposed near the active caster it drives). The controller 230 may be communicatively connected to the at least one caster motor to cause the at least one caster motor to drive the at least one active caster to rotate, thereby controlling the movement of the mobile station. Figure 5

[0123] In some embodiments, the operation handle may further include at least one control mode selection device, and the at least one control mode selection device may be used to receive the user's selection of the control mode of the mobile station or the control mode of the moving arm. The controller 230 may be communicatively connected to the at least one control mode selection device to receive the control mode selected by the user from the at least one control mode selection device, so as to determine to control the movement of the mobile station or the movement of the moving arm. The at least one control mode selection device is disposed on the operation handle to facilitate receiving the user's operation. In some embodiments, the at least one control mode selection device may be disposed at a suitable position such as the top, bottom, or circumferential side of the operation handle. In some embodiments, the control mode selection device may be in any suitable form such as a button, key, or knob. In some embodiments, the user can select different control modes by pressing the buttons or keys corresponding to different control modes, or by toggling the knob to different positions, etc.

[0124] ​​In some embodiments, the operating handle may further include at least one scene mode selection device, and the at least one scene mode selection device may be configured to receive a user's selection of a left - hand mode or a right - hand mode. The controller of the surgical robot 200 may be communicatively connected to the at least one scene mode selection device (e.g., wirelessly) to receive the scene mode selected by the user from the at least one scene mode selection device, so as to determine whether the user is currently holding the operating handle with the left hand or the right hand, thereby facilitating the determination of the user's operation intention. The at least one scene mode selection device is disposed on the operating handle to facilitate receiving the user's operation. In some embodiments, the at least one scene mode selection device may be disposed at positions such as the top, bottom, or circumferential side of the operating handle. In some embodiments, the scene mode selection device may be in any suitable form such as a button, a key, a knob, etc. In some embodiments, the user may select different scene modes by pressing the keys or buttons corresponding to different scene modes, or by moving the knob to different positions, etc.

[0125] In some embodiments, the operating handle may further include a trigger. The trigger may be configured to receive the user's operation on the trigger and generate a trigger signal or a release signal based on the user's operation. The controller of the surgical robot 200 may be communicatively connected to the trigger to receive the trigger signal or the release signal from the trigger, so as to establish or disconnect the control mapping relationship between the operating handle and the movement of the mobile station 210 or at least one robotic arm 211. The trigger is disposed on the operating handle to facilitate receiving the user's operation. In some embodiments, the trigger may be disposed at positions such as the top, bottom, or circumferential side of the operating handle. In some embodiments, the trigger may be in any suitable form such as a button, a key, a knob, etc. In some embodiments, the user may trigger the establishment of the control mapping relationship between the operating handle and the mobile station 210 or the robotic arm 211 by keeping the trigger pressed, keeping it toggled, or keeping it touched, and may also disconnect the control mapping relationship between the operating handle and the movement of the mobile station 210 or the robotic arm 211 by releasing the trigger. In some embodiments, the user may trigger the establishment of the control mapping relationship between the operating handle and the mobile station 210 or the robotic arm 211 by pressing, toggling, or touching the trigger, and may also disconnect the control mapping relationship between the operating handle and the movement of the mobile station 210 or the robotic arm 211 by pressing, toggling, or touching the trigger again. Those skilled in the art can understand that the user operations that cause the trigger to generate a trigger signal or a mapping signal are not limited to the several listed above, and may also include any suitable manner.

[0126] Those skilled in the art can understand that the surgical robot 200 provided in this embodiment may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0127] 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, the computer is caused to execute the motion control method of the robotic system according to any one of some embodiments of the present disclosure (for example, Method 100, 400a, 400b, 800).

[0128] In some embodiments, the computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer-readable storage medium may 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.

[0129] 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 such an 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 the computer software product can be stored in a computer-readable storage medium. In some embodiments, the computer-readable storage medium may 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 is caused to execute the control method of the present disclosure. It should be understood that the computer device may include a personal computer, a server, or a network device, etc.

[0130] In some embodiments, when the user operates the operation handle, based on the handle operation information generated by the inertial measurement unit in the operation handle, the controller of the surgical robot can identify the user's operation intention, and thus perform corresponding control on the mobile station or at least one motion arm of the surgical robot. Based on this, the user can operate the operation handle to control the movement of the mobile station or the motion arm, so as to conveniently move the mobile station or the motion arm to a pose convenient for performing surgery.

[0131] In some embodiments, when the controller 230 of the surgical robot 200 receives a trigger signal from the trigger, it controls the movement of the mobile station or at least one robotic arm based on the handle operation information received from the inertial measurement unit 221. When the controller 230 receives a release signal from the trigger or the trigger is not triggered, the mobile station or the robotic arm does not move following the movement of the operating handle, which helps to avoid the movement of the mobile station or the robotic arm following the user's misoperation.

[0132] In some embodiments, the operating handle 220 of the surgical robot 200 may include multiple inertial measurement units, such as two inertial measurement units. The controller 230 can receive the first handle operation information and the second handle operation information from the two inertial measurement units respectively, and determine the handle operation information based on this, which helps to improve the accuracy of the handle operation information.

[0133] In some embodiments, the controller 230 can control the movement of the mobile station or the robotic arm based on the movement speed and / or movement angular velocity of the operating handle, so that the mobile station or the robotic arm can move sensitively following the movement of the operating handle. In some embodiments, the controller 230 can control the movement of the mobile station or the robotic arm based on the translation distance and / or rotation angle of the operating handle, so that the movement of the mobile station or the robotic arm can be more stable. In some embodiments, the controller 230 can also control the movement of the mobile station or the robotic arm according to other information measured by the inertial measurement unit, such as the movement acceleration, angular acceleration, and attitude of the operating handle.

[0134] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here. 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 an operating handle communicatively connected to the mobile station, the operating handle including at least one inertial measurement unit, the mobile station including at least one robotic arm, the control method comprising: Receiving handle operation information corresponding to an operation action of the operation handle from at least one inertial measurement unit of the operation handle; And Based on the handle operation information, controlling the movement of the mobile station or the at least one robotic arm.

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

3. The motion control method for a robot system according to claim 1, wherein, The operation handle includes at least one control mode selection device, and the method further comprises: Receiving a selection of a mobile station control mode or a robotic arm control mode from the at least one control mode selection device.

4. The motion control method for a robot system according to claim 2, wherein, Further comprising: Based on the moving speed of the operation handle and a moving station control point speed mapping coefficient, determining a target speed of the control point of the mobile station in a mobile station control point coordinate system; And / or Based on the moving angular velocity of the operation handle and a moving station control point angular velocity mapping coefficient, determining a target angular velocity of the control point of the mobile station in a mobile station control point coordinate system.

5. The motion control method for a robot system according to claim 4, wherein, Further comprising: Based on the target speed and / or target angular velocity of the control point of the mobile station in the mobile station control point coordinate system, 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.

6. The control method according to claim 5, wherein, 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 method further comprises: Based on the target speed and / or target angular velocity of the control point of the mobile station in the mobile station control point coordinate system, determining the target speed of the at least one active caster; and Based on the target speed and radius of the at least one active caster, determining a motion control instruction for the at least one caster motor.

7. The control method according to claim 6, wherein, 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, and the mobile station control point coordinate system includes a longitudinal coordinate axis in the vertical direction and a first transverse coordinate axis and a second transverse coordinate axis perpendicular to the longitudinal coordinate axis.

8. The control method according to claim 4, wherein, The moving speed of the operation handle includes the moving speeds of the operation handle along the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system, and the moving angular velocity of the operation handle includes the moving angular velocity of the operation handle around the vertical coordinate axis of the reference coordinate system.

9. The motion control method for a robot system according to claim 2, wherein, Further comprising: Based on the moving speed of the operation handle and a robotic arm control point speed mapping coefficient, determining a target speed of the control point of the robotic arm in a robotic arm control point coordinate system; And / or Based on the moving angular velocity of the operation handle and a robotic arm control point angular velocity mapping coefficient, determining a target angular velocity of the control point of the robotic arm in a robotic arm control point coordinate system.

10. The motion control method of the robot system according to claim 9, wherein, 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 takes the remote center of motion as the origin, and the robotic arm control point coordinate system includes a longitudinal coordinate axis extending from the proximal end to the distal end and a first transverse coordinate axis and a second transverse coordinate axis perpendicular to the longitudinal coordinate axis.

11. The control method according to claim 9, wherein, Further comprising: Generate 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 in the robotic arm control point coordinate system; and Control the movement of the robotic arm based on the motion control instruction of the robotic arm.

12. The control method according to claim 11, wherein, 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. Generating the motion control instruction for the robotic arm includes: Determine 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 Determine the drive control instruction for the at least one joint motor based on the joint values and joint velocities of the at least one joint.

13. The control method according to claim 12, wherein, The at least one joint includes: the 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.

14. The control method according to claim 13, wherein, It further includes: Determine 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 in the robotic arm control point coordinate system; and Determine the drive control instruction for the joint motors 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 Determine 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 in the robotic arm control point coordinate system; and Determine the drive control instruction for the joint motors 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 velocities of the first arc-arm rotation joint, the second arc-arm rotation joint, and the third arc-arm rotation joint of the robotic arm based on the target angular velocity of the control point of the robotic arm in the robotic arm control point coordinate system; and Determine the drive control instruction for the joint motors driving the first arc-arm rotation joint, the second arc-arm rotation joint, and the third arc-arm rotation joint of the robotic arm based on the joint values and joint velocities of the first arc-arm rotation joint, the second arc-arm rotation joint, and the third arc-arm rotation joint of the robotic arm.

15. The motion control method of the robot system according to claim 4 or 9, wherein, The operation handle includes at least one scene mode selection device, and the method further includes: Receive a selection of the left-hand mode or the right-hand mode from the at least one scene mode selection device.

16. The motion control method of the robot system according to claim 15, wherein, It further includes: Based on the selection of the left - hand mode or the right - hand mode, determine at least one of the speed mapping coefficient of the mobile - station control point, the angular - velocity mapping coefficient of the mobile - station control point, the speed mapping coefficient of the moving - arm control point, and the angular - velocity mapping coefficient of the moving - arm control point.

17. The motion control method of the robot system according to claim 3, wherein, The operating handle further includes a trigger, and the method further includes: Receiving a trigger signal from the trigger; and In response to receiving the trigger signal, establishing a control mapping relationship between the operating handle and the movement of the mobile station or the at least one moving arm.

18. The motion control method of the robot system according to claim 17, characterized in that, It further includes: Receiving a release signal from the trigger; And In response to receiving the release signal, disconnecting the control mapping relationship between the operating handle and the movement of the mobile station or the at least one moving arm.

19. A surgical robot, characterized in that, Includes: A mobile station, including: At least one moving arm, which is movably arranged on the mobile station; An operating handle for receiving the operation of the user on the operating handle; A controller, which is communicatively connected to the mobile station and the operating handle, and is configured to be able to execute the motion control method of the robot system according to any one of claims 1 - 18.

20. The surgical robot according to claim 19, 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.

21. The surgical robot according to claim 19, characterized in that, 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.

22. The surgical robot according to claim 19, characterized in that, The operating handle includes: At least one control - mode selection device for receiving the user's selection of the mobile - station control mode or the moving - arm control mode, and the controller is communicatively connected to the at least one control - mode selection device; and / or At least one scene - mode selection device for receiving the user's selection of the left - hand mode or the right - hand mode, and the controller is communicatively connected to the at least one scene - mode selection device; and / or A trigger for receiving the user's operation on the trigger and generating a trigger signal or a release signal based on the operation, and the controller is communicatively connected to the trigger.

23. A computer-readable storage medium, characterized in that, 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 18.

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