Auxiliary control method and system for surgical robot
By constructing a priori knowledge model and collecting physiological indicators, controlling the movement direction and movement amplitude of surgical robots, the problem of imperfect tactile feedback in the existing technology is solved, virtual perception and auxiliary control of surgical goals are achieved, and surgical risks are reduced.
Patent Information
- Application Number
- CN202510442286.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-09
- Publication Date
- 2025-06-17
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The tactile feedback of existing surgical robots is incomplete, making it difficult to accurately judge the deformation of surgical targets and tissues, which can easily lead to surgical errors.
By constructing a prior knowledge model, the patient's physiological indicators are collected, the blood vessels and tissues on the surgical path are obtained, and the movement direction and movement amplitude of the surgical robot are controlled to achieve virtual perception of the surgical goal.
The auxiliary control of surgical robots is achieved, reducing the operator's human judgment and reducing the degree of damage to patient tissue.
Smart Images
Figure CN120154429A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of surgical robot assisted control, and more particularly, to an assisted control method and system for a surgical robot. Background Art
[0002] A surgical robot is a new type of medical device integrating many disciplines, and is an important development direction of the current informatization, program control, and intelligence of medical devices. It has broad application prospects in clinical minimally invasive surgery, battlefield rescue, earthquake and tsunami relief, etc.
[0003] When in use, the surgeon stands beside the console, dozens of centimeters away from the operating table, and looks in through the viewing mirror to study the 3-D images sent by the camera inside the patient's body. The images show the surgical site and two surgical instruments fixed at the ends of the two rods. A control handle like a joystick is located directly below the screen, and the surgeon uses it to operate the surgical instruments. Each time the joystick moves, the computer sends an electronic signal to the instrument, and the instrument moves synchronously with the surgeon's hand. However, the existing haptic feedback of surgical robots is not perfect, it is easy to tear fragile tissues, and it cannot sense the tightness of knots. The operator can only judge the magnitude of the force by observing the degree of deformation of the tissue under the action of the force on the screen; or set the stress at the end of the instrument in advance to prevent excessive force. Summary of the Invention
[0004] In order to solve the above problems, the purpose of the present invention is to provide an assisted control technology for a surgical robot, aiming to assist the operator in virtual perception of the surgical target.
[0005] In order to achieve the above technical objectives, the present application provides an assisted control method for a surgical robot, including the following steps: Construct a prior knowledge model for diagnosing the physical condition of the surgical patient during the operation, and monitor the patient by collecting various physiological indicators of the patient; Based on the surgical path of the surgical robot, obtain the first physiological indicator of the surgical target, and the second physiological indicators of the blood vessels and tissues passed through on the surgical path; Based on the surgical expected result and the monitoring result, by obtaining the action instruction of the surgical robot, and according to the first physiological indicator and the second physiological indicator, control the movement direction and action amplitude of the surgical robot on the surgical path.
[0006] Further, when obtaining the surgical path, based on the starting position of the surgical robot and the first position of the surgical target, several initial surgical paths are constructed. Then, according to the second positions of the blood vessels and tissues passed through on each initial surgical path, and based on the second physiological indicators and the functional indicators of the surgical robot during the operation, the initial surgical paths are screened to obtain the surgical path, where the functional indicators are used to characterize the functional characteristics of the surgical robot during the operation.
[0007] Further, during the process of obtaining the surgical path, according to the positional relationships between the surgical robot and the blood vessels and tissues respectively on the initial surgical paths, as well as the impacts on the blood vessels and tissues, the initial surgical paths are screened with the goal of minimizing the adjustment amplitude and frequency of the movement direction and action amplitude of the surgical robot, so as to obtain the surgical path.
[0008] Further, when obtaining the movement direction and action amplitude, based on the change amplitude of the movement direction of the surgical robot on the initial surgical path, by evaluating the impacts brought by the change amplitude on the surrounding blood vessels and tissues, and according to the first position, the movement direction and action amplitude of the surgical robot on the initial surgical path are obtained.
[0009] Further, during the process of obtaining the expected surgical results, based on the prior knowledge model, according to the first physiological indicators of the surgical target and the various physiological indicators of the patient before the operation, the expected surgical results are obtained. Among them, according to the expected surgical results, the operation duration is obtained, and the power supply of the surgical robot is planned.
[0010] Further, when planning the power supply of the surgical robot, on the basis of the power supply of the surgical robot, a backup power supply is set. According to the operation duration and the temporarily increased operation duration, the power supply and the backup power supply are switched to reduce the heat generated by the charging of the surgical robot during the operation.
[0011] Further, when controlling the movement direction and action amplitude of the surgical robot on the surgical path, at the current perspective of the operator, the positional relationship between the current position and the first position, as well as the positional relationship between the current position and the second position are displayed. And by collecting the deformation situation of the contact part of the surgical robot at the current position, the force condition of the contact part is obtained and displayed. Then, based on the force condition, the continuous force condition of the contact part on the surgical path is analyzed to obtain the mechanical changes of the contact part during the operation and this mechanical change, so as to judge the impacts of the contact part on the surrounding blood vessels and organs during the operation. According to the judgment result, the movement direction and action amplitude of the surgical robot on the surgical path are assisted to be controlled.
[0012] The present invention discloses an auxiliary control system for a surgical robot, comprising: A monitoring module for constructing a prior knowledge model for diagnosing the physical condition of a surgical patient during surgery, and monitoring the patient by collecting various physiological indicators of the patient; A data analysis module for obtaining a first physiological indicator of a surgical target and second physiological indicators of blood vessels and tissues passed through on a surgical path based on the surgical path of the surgical robot; An auxiliary control module for controlling the movement direction and action amplitude of the surgical robot on the surgical path based on the surgical expected result and the monitoring result, by obtaining an action instruction of the surgical robot and according to the first physiological indicator and the second physiological indicator.
[0013] The present invention discloses the following technical effects: Through virtual perception design, the present invention realizes the auxiliary control of the surgical robot, avoids the trouble of manual judgment during operation, and provides new technical inspiration for the application of the surgical robot. Description of the Drawings
[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0015] Figure 1 It is a schematic flowchart of the method described in the present invention. Detailed Embodiments
[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of them. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.
[0017] As Figure 1 shown, the present invention provides an auxiliary control method for a surgical robot, comprising the following steps: The constructed prior knowledge model for diagnosing the physical condition of surgical patients during surgery monitors the patients by collecting various physiological indicators of the patients; Based on the surgical path of the surgical robot, the first physiological indicators of the surgical target and the second physiological indicators of the blood vessels and tissues passed through on the surgical path are obtained; Based on the surgical expected results and the monitoring results, by obtaining the action instructions of the surgical robot, according to the first physiological indicators and the second physiological indicators, the movement direction and action amplitude of the surgical robot on the surgical path are controlled.
[0018] The present invention deeply explores the problems existing in the actual operation of the surgical robot and finds that it is very difficult to accurately master the target situation by visual inspection alone. At the same time, the changes in physiological indicators need to be considered during the surgery. Therefore, the present invention tracks and considers the physiological indicators of the patient during the surgery and the force exerted by the robot on the current position during movement, considers the blood vessels and tissues encountered on the path, and realizes the auxiliary control operation of the surgical robot, so that the movement direction and action amplitude of the surgical robot during the surgery cause the lowest degree of harm to the patient.
[0019] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, when obtaining the surgical path, according to the starting position of the surgical robot and based on the first position of the surgical target, several initial surgical paths are constructed, and according to the second positions of the blood vessels and tissues passed through on each initial surgical path, and according to the second physiological indicators and the functional indicators of the surgical robot during the surgery, the initial surgical paths are screened to obtain the surgical path, where the functional indicators are used to characterize the functional characteristics of the surgical robot during the surgery.
[0020] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, during the process of obtaining the surgical path, according to the positional relationship between the surgical robot and the blood vessels and tissues on the initial surgical path respectively, and the influence on the blood vessels and tissues, the initial surgical paths are screened, and with the goal of minimizing the adjustment amplitude and number of times of the movement direction and action amplitude of the surgical robot, the initial surgical paths are screened to obtain the surgical path.
[0021] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, when obtaining the movement direction and action amplitude, according to the change amplitude of the movement direction of the surgical robot on the initial surgical path, by evaluating the influence of the change amplitude on the surrounding blood vessels and tissues, and according to the first position, the movement direction and action amplitude of the surgical robot on the initial surgical path are obtained.
[0022] When constructing the surgical path of a surgical robot, not only the ultimate purpose of the surgery and the issue of the surgical target need to be considered, but also the damage to the blood vessels and tissues that may be passed through during the surgery. At the same time, when constructing the path, the starting position of the surgery and the range of position changes that can be changed at any time during the surgery need to be considered (one is active change and the other is passive change. Active change is the position actively changed by the operator based on the current situation, and passive change is the passive change executed when the monitoring data shows abnormalities), that is, when the movement direction is determined, according to the positional relationship between the surrounding blood vessels and tissues and the current position, the movement amplitude is adjusted so that the surgical robot can change the rhythm and movement under reasonable conditions to adapt to different situations.
[0023] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, during the process of obtaining the surgical expected result, based on the prior knowledge model, according to the first physiological index of the surgical target and the various physiological indexes of the patient before the surgery, the surgical expected result is obtained. Among them, according to the surgical expected result, the surgical duration is obtained, and the power supply of the surgical robot is planned.
[0024] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, when planning the power supply of the surgical robot, on the basis of the power supply of the surgical robot, a backup power supply is set, and according to the surgical duration and the temporarily increased surgical duration, the power supply and the backup power supply are switched to reduce the heat generated by the surgical robot during charging in the surgery.
[0025] In the above process, when the surgical robot performs surgery, when encountering a surgery with a long duration, the heat generation problem of the power supply of the robot during a long-term surgery needs to be considered. Since the surgical robot has its own battery and a charging power supply, it can achieve self-power management. However, since long-term power supply through one line will cause local heating, and charging while supplying power will also directly affect the life of the self-owned battery. Therefore, the present invention designs a backup power supply to solve the problem of heat generation during charging of a single line. In addition, the operation of charging with one power supply and supplying power with the other can separate charging and power supply, extend the life of the battery, and effectively reduce the damage to the power supply caused by continuous power supply.
[0026] Further preferably, for an auxiliary control method for a surgical robot provided by the present invention, when controlling the movement direction and action amplitude of the surgical robot on the surgical path, the positional relationship between the current position and the first position, and the positional relationship between the current position and the second position are displayed from the current perspective of the operator. Meanwhile, by collecting the deformation of the contact part of the surgical robot at the current position, the force condition of the contact part is obtained and displayed, and based on the force condition, the continuous force condition of the contact part on the surgical path is analyzed to obtain the mechanical changes of the contact part during the surgery and this mechanical change to judge the influence of the contact part on the surrounding blood vessels and organs during the surgery. Then, according to the judgment result, the movement direction and action amplitude of the surgical robot on the surgical path are assisted to be controlled.
[0027] When the present invention conducts the auxiliary control of the surgical robot, the control process and the data involved in the process are visually designed. Through the virtual data presentation, the physiological target positions, the conditions of the surgical contact parts, and the surgical execution conditions of the surgical targets during the surgery are effectively marked. At the same time, through the use of physiological index monitoring and the prior knowledge model, the health conditions of the patient during the surgery are effectively monitored, providing a powerful auxiliary boost for the control of the surgical robot, helping the operator to always understand the current situation of the patient, and avoiding operation errors under non-contact conditions.
[0028] The present invention also discloses an auxiliary control system for a surgical robot, which is used to implement the above-mentioned auxiliary control method for a surgical robot, and includes: A monitoring module, which is used to construct a prior knowledge model for diagnosing the physical condition of the surgical patient during the surgery, and monitors the patient by collecting various physiological indexes of the patient; A data analysis module, which is used to obtain the first physiological index of the surgical target and the second physiological indexes of the blood vessels and tissues passed through on the surgical path based on the surgical path of the surgical robot; An auxiliary control module, which is used to control the movement direction and action amplitude of the surgical robot on the surgical path based on the surgical expected result and the monitoring result by obtaining the action instruction of the surgical robot and according to the first physiological index and the second physiological index.
[0029] Further preferably, when the system obtains the surgical path through the data analysis module, several initial surgical paths are constructed according to the starting position of the surgical robot and the first position of the surgical target, and according to the second positions of the blood vessels and tissues passed through on each initial surgical path, the initial surgical paths are screened according to the second physiological index and the functional index of the surgical robot during the surgery to obtain the surgical path, where the functional index is used to characterize the functional characteristics of the surgical robot during the surgery.
[0030] Further preferably, when the system obtains the surgical path through the data analysis module, according to the positional relationship between the surgical robot and the blood vessels and tissues respectively on the initial surgical path, as well as the influence on the blood vessels and tissues, the initial surgical path is screened. With the goal of minimizing the adjustment amplitude and number of times of the movement direction and action amplitude of the surgical robot, the initial surgical path is screened to obtain the surgical path.
[0031] Further preferably, when the system obtains the movement direction and action amplitude through the data analysis module, based on the change amplitude of the movement direction of the surgical robot on the initial surgical path, by evaluating the influence of the change amplitude on the surrounding blood vessels and tissues, and according to the first position, the movement direction and action amplitude of the surgical robot on the initial surgical path are obtained.
[0032] Further preferably, when the system obtains the surgical expected result through the auxiliary control module, based on the prior knowledge model, according to the first physiological index of the surgical target and the various physiological indexes of the patient before the operation, the surgical expected result is obtained. Among them, according to the surgical expected result, the operation duration is obtained, and the power supply of the surgical robot is planned.
[0033] Further preferably, when the system plans the power supply of the surgical robot through the auxiliary control module, on the basis of the power supply of the surgical robot, a backup power supply is set. According to the operation duration and the temporarily increased operation duration, the power supply and the backup power supply are switched to reduce the heat generated by the surgical robot during charging in the operation.
[0034] Further preferably, when the system controls the movement direction and action amplitude of the surgical robot on the surgical path through the auxiliary control module, in the current perspective of the operator, the positional relationship between the current position and the first position, and the positional relationship between the current position and the second position are displayed. And by collecting the deformation condition of the contact part of the surgical robot at the current position, the force condition of the contact part is obtained and displayed. And based on the force condition, the continuous force condition of the contact part on the surgical path is analyzed to obtain the mechanical change of the contact part during the operation and this mechanical change, to judge the influence of the contact part on the surrounding blood vessels and organs during the operation. And according to the judgment result, the movement direction and action amplitude of the surgical robot on the surgical path are assisted to be controlled.
[0035] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.
[0036] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.
[0037] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.
Claims
1. An auxiliary control method for a surgical robot, characterized in that: The following steps are involved: The prior knowledge model constructed for diagnosing the physical condition of surgical patients during surgery monitors the patients by collecting various physiological indicators of the patients; Based on the surgical path of the surgical robot, obtaining a first physiological index of the surgical target and a second physiological index of the blood vessels and tissues passing through the surgical path; Based on the expected results of the operation and the monitoring results, the movement direction and amplitude of the surgical robot on the operation path are controlled by obtaining the motion instructions of the surgical robot according to the first physiological indicator and the second physiological indicator.
2. The auxiliary control method for a surgical robot according to claim 1, characterized in that: When acquiring the surgical path, several initial surgical paths are constructed according to the starting position of the surgical robot and the first position of the surgical target, and the initial surgical paths are screened according to the second position of the blood vessels and tissues passed through on each initial surgical path, the second physiological indicators and the functional indicators of the surgical robot during surgery to acquire the surgical path, wherein the functional indicators are used to characterize the functional characteristics of the surgical robot during surgery.
3. The auxiliary control method for a surgical robot according to claim 2, characterized in that: In the process of acquiring the surgical path, the initial surgical path is screened based on the positional relationship between the surgical robot and the blood vessels and tissues on the initial surgical path, as well as the impact on the blood vessels and tissues. The initial surgical path is screened with the goal of minimizing the adjustment amplitude and number of the movement direction and action amplitude of the surgical robot to acquire the surgical path.
4. The auxiliary control method for a surgical robot according to claim 3, characterized in that: When obtaining the movement direction and the movement amplitude, based on the change amplitude of the movement direction of the surgical robot on the initial surgical path, the impact of the change amplitude on the surrounding blood vessels and tissues is evaluated, and based on the first position, the movement direction and the movement amplitude of the surgical robot on the initial surgical path are obtained.
5. The auxiliary control method for a surgical robot according to claim 4, characterized in that: In the process of obtaining the expected results of the surgery, based on the prior knowledge model, the expected results of the surgery are obtained according to the first physiological indicators of the surgical target and the various physiological indicators of the patient before the surgery. According to the expected results of the surgery, the duration of the surgery is obtained and the power supply of the surgical robot is planned.
6. The auxiliary control method for a surgical robot according to claim 5, characterized in that: When planning the power supply of the surgical robot, a backup power supply is set based on the power supply of the surgical robot. According to the operation duration and the temporarily increased operation duration, the power supply and the backup power supply are switched to reduce the heat caused by charging of the surgical robot during the operation.
7. The auxiliary control method for a surgical robot according to claim 6, characterized in that: When controlling the movement direction and amplitude of the surgical robot on the surgical path, the positional relationship between the current position and the first position, as well as the positional relationship between the current position and the second position are displayed in the operator's current perspective, and by collecting the deformation of the contact part of the surgical robot at the current position, the force condition of the contact part is obtained and displayed, and the continuous force condition of the contact part on the surgical path is analyzed based on the force condition, and the mechanical changes of the contact part during the operation and the mechanical changes are obtained to judge the influence of the contact part on the surrounding blood vessels and organs during the operation, and according to the judgment result, the movement direction and amplitude of the surgical robot on the surgical path are auxiliary controlled.
8. An auxiliary control system for a surgical robot, characterized in that: include: The monitoring module is used to build a priori knowledge model for diagnosing the physical condition of surgical patients during surgery, and monitor the patients by collecting various physiological indicators of the patients; A data analysis module, for obtaining a first physiological index of a surgical target and a second physiological index of blood vessels and tissues passing through the surgical path based on a surgical robot's surgical path; The auxiliary control module is used to control the movement direction and amplitude of the surgical robot on the surgical path based on the expected results of the operation and the monitoring results, by obtaining the motion instructions of the surgical robot and according to the first physiological indicator and the second physiological indicator.