Surgical robot master hand control device and method and doctor console

Abstract

The invention provides a surgical robot master hand control device and method and a doctor console, and the device comprises a mode switching unit which is used for automatically switching a surgical robot from an instrument control mode to an adjustment mode when it is detected that a master hand collides with surrounding objects; the pose acquisition unit is used for acquiring pose information when the master hand is collided after the surgical robot enters the adjusting mode; the target position determining unit is used for determining the target position of the master hand; the movement control unit is used for controlling the master manipulator to move from the collision position to the target position, and the posture of the master manipulator is kept unchanged in the movement process; the mode switching unit is used for automatically switching the surgical robot from the adjusting mode to the instrument control mode after it is detected that the master hand reaches the target position. According to the master manipulator control device of the surgical robot, automatic switching of the surgical robot between the instrument control mode and the adjustment mode can be achieved, the continuity of master and slave instrument control can be guaranteed, and the user experience is improved.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and particularly relates to a master hand control device, method and doctor console of a surgical robot. Background Art

[0002] A master-slave surgical robot system generally includes a doctor console, a surgical trolley and a vision trolley. Generally, a doctor operates the master hand at the doctor console end, and maps the operation of the doctor on the master hand to the surgical trolley end through master-slave mapping (such as position increment mapping and attitude absolute mapping), so that the surgical trolley end performs surgical actions on the patient's lesion position. During the operation, the assistant doctor can assist the surgeon by observing the picture on the vision trolley.

[0003] Master-slave instrument control generally refers to the control of surgical instruments by a doctor through the master hand in a doctor console in a master-slave surgical robot system. During the master-slave instrument control process of the master-slave surgical robot system, since there are other objects around the master hand in the doctor console, the surrounding objects restrict the operation of the master hand. When the user operates the master hand, the master hand often collides with the surrounding objects, which further hinders the movement of the master hand. At this time, the user manually disconnects the instrument control, that is, the user manually presses the finger clutch to drag the master hand away from the collision object, and then the user releases the finger clutch and continues the master-slave instrument control process. If the distance that the user drags the master hand to move is not appropriate, such as too small or too large, the user needs to repeat the above process of pressing and releasing the finger clutch multiple times.

[0004] Therefore, in the current master-slave surgical robot system, if the master hand collides during the master-slave instrument control process, the user needs to manually press the finger clutch and then make adjustments, and often needs to repeatedly press and release the finger clutch to drag the master hand to a suitable position. Therefore, the adjustment process is relatively cumbersome, which greatly affects the continuity of the master-slave instrument control and the user experience. Summary of the Invention

[0005] The embodiments of this application provide a master hand control device, method and doctor console of a surgical robot, which can reduce the cumbersome degree of the adjustment process after the master hand collides in the master-slave instrument control of the surgical robot, ensure the continuity of the master-slave instrument control, and improve the user experience.

[0006] In a first aspect, an embodiment of the present application provides a master hand control device for a surgical robot. The surgical robot includes a doctor's console, and the master hand of the surgical robot is arranged on the doctor's console. The device includes: a mode switching unit, configured to automatically switch the surgical robot from an instrument control mode to an adjustment mode when it detects that the master hand collides with surrounding objects; a pose acquisition unit, configured to acquire the pose information of the master hand at the time of collision after the surgical robot enters the adjustment mode, where the pose information includes the position and the attitude at the time of collision; a target position determination unit, configured to determine the target position of the master hand, where the master hand does not collide with surrounding objects at the target position; a movement control unit, configured to control the master hand to move from the position at the time of collision to the target position, and the attitude of the master hand remains unchanged during the movement; the mode switching unit is further configured to automatically switch the surgical robot from the adjustment mode to the instrument control mode after detecting that the master hand reaches the target position.

[0007] In the master hand control device of the surgical robot in the first aspect, the mode switching unit detects the collision situation between the master hand and surrounding objects, and immediately switches the surgical robot from the instrument control mode to the adjustment mode after detecting that the master hand collides with surrounding objects. The target position determination unit determines the target position after the surgical robot enters the adjustment mode, and the movement control unit controls the master hand to move from the position at the time of collision to the target position. Finally, the mode switching unit switches from the adjustment mode to the instrument control mode after detecting that the master hand is at the target position. Throughout the process, the user does not need to perform operations such as pressing or releasing the finger clutch, and can realize the automatic switching between the instrument control mode and the adjustment mode, so that the position adjustment process after the master hand collides is relatively simple. Since the target position determination unit determines a suitable target position, and the mode switching unit switches the surgical robot from the adjustment mode to the instrument control mode when the master hand is at the target position, after the master hand collides, the adjustment of the master hand can be completed through one mode switch or one disconnection of the instrument control process, thus ensuring the continuity of the master-slave instrument control process and improving the user experience.

[0008] In a possible implementation manner of the first aspect, the target position determination unit, configured to determine the target position of the master hand, includes: determining a plurality of positions of the master hand in the attitude at the time of collision according to the attitude of the master hand at the time of collision and the preset relationship data between the attitude and the position of the master hand; and determining the target position from the plurality of positions of the master hand according to the position where the surrounding objects of the master hand are located.

[0009] In a possible implementation manner of the first aspect, the master hand includes at least seven joints, and the preset relationship data between the attitude and the position of the master hand is determined according to the movement of the at least seven joints. One attitude of the master hand corresponds to a plurality of positions.

[0010] In a possible implementation of the first aspect, at least three of the at least seven joints control the position of the main hand, and the position of the main hand is the coordinate value of the convergence point of at least three joints that control the position of the main hand.

[0011] In a possible implementation of the first aspect, a target position determination unit is configured to determine a target position from multiple positions of the main hand according to the positions of the objects around the main hand, including: determining the sum of the shortest distances between the main hand and each surrounding object when the main hand is at a first position, where the shortest distance between the main hand and each surrounding object is not less than a preset distance threshold, and the first position is any one of the multiple positions of the main hand; and determining the position of the main hand with the largest sum of the shortest distances between the main hand and each surrounding object among the multiple positions of the main hand as the target position.

[0012] In a possible implementation of the first aspect, a movement control unit is configured to control the main hand to move from the position at which a collision occurs to the target position, including: determining a guiding force according to the position at which the collision occurs and the target position; controlling the main hand to feedback the guiding force to the user; receiving an operation of the user on the main hand, where the operation is made by the user under the guidance of the guiding force; and in response to the operation, controlling the main hand to move from the position at which the collision occurs to the target position.

[0013] In a possible implementation of the first aspect, the movement control unit is configured to determine a guiding force according to the position at which a collision occurs and the target position, including: determining a distance value between the position at which the collision occurs and the target position according to the position at which the collision occurs and the target position; and the distance value and the guiding force satisfy the following condition:

[0014] F = k·Δx

[0015] where: F represents the guiding force, k represents a preset coefficient, and Δx represents the distance value between the position at which the collision occurs and the target position.

[0016] In a possible implementation of the first aspect, during the process of controlling the main hand to move from the position at which a collision occurs to the target position, the movement control unit is further configured to: obtain an updated position where the main hand is located after moving; if the updated position is different from the target position, update the guiding force according to the updated position and the target position; and if the updated position is the same as the target position, determine that it is detected that the main hand is located at the target position.

[0017] Second aspect, an embodiment of the present application provides a method for controlling the master hand of a surgical robot, which is applied to a doctor's console. The surgical robot includes a doctor's console, and the master hand of the surgical robot is arranged on the doctor's console. The doctor's console includes a master hand. The method includes: automatically switching the surgical robot from the instrument control mode to the adjustment mode when it is detected that the master hand collides with surrounding objects; after the surgical robot enters the adjustment mode, obtaining the pose information of the master hand at the time of collision, where the pose information includes the position and the attitude at the time of collision; determining the target position of the master hand, where the master hand does not collide with surrounding objects at the target position; controlling the master hand to move from the position at the time of collision to the target position, and the attitude of the master hand remains unchanged during the movement; automatically switching the surgical robot from the adjustment mode to the instrument control mode after it is detected that the master hand reaches the target position.

[0018] In the method for controlling the master hand of the surgical robot in the second aspect, the doctor's console actively detects the collision situation between the master hand and surrounding objects, switches the surgical robot from the instrument control mode to the adjustment mode immediately after detecting the collision between the master hand and surrounding objects, and determines the target position after the surgical robot enters the adjustment mode, and then controls the master hand to move from the position at the time of collision to the target position, and finally switches from the adjustment mode to the instrument control mode after detecting that the master hand is at the target position. During the whole process, the user does not need to perform the operation of pressing or releasing the finger clutch, and can realize the automatic switching between the instrument control mode and the adjustment mode, so that the adjustment process after the master hand collides is relatively simple. Since the doctor's console determines a suitable target position and switches to the instrument control mode only when the master hand is at the target position, after the master hand collides, the adjustment of the master hand can be completed through one mode switch or by disconnecting the instrument control process once, thus ensuring the continuity of the master-slave instrument control process and improving the user experience.

[0019] In a possible implementation manner of the second aspect, determining the target position of the master hand includes: determining a plurality of positions of the master hand in the attitude at the time of collision according to the attitude of the master hand at the time of collision and the preset relationship data between the attitude and the position of the master hand; determining the target position from the plurality of positions of the master hand according to the position where the surrounding objects of the master hand are located. In this implementation manner, when determining the target position of the master hand, the position where the surrounding objects of the master hand are located is fully considered. The position where the surrounding objects of the master hand are located includes the position of any object around the master hand. Therefore, the target position is related to the position of each object among the surrounding objects of the master hand, and further ensures that there is no collision between the master hand and any object among the surrounding objects of the master hand when the master hand is at the target position.

[0020] In a possible implementation of the second aspect, the master hand includes at least seven joints. Preset relationship data for determining the posture and position of the master hand is based on the movements of the at least seven joints. One posture of the master hand corresponds to multiple positions. In this implementation, by setting at least seven joints for the master hand, the master hand has at least seven degrees of freedom, that is, at least one degree of freedom is added to the six spatial degrees of freedom of the master hand, facilitating the adjustment of the master hand. This ensures that one posture of the master hand can correspond to multiple sets of joint angle values, and each set of joint angle values corresponds to one position. Therefore, one posture of the master hand can correspond to multiple positions.

[0021] In a possible implementation of the second aspect, at least three of the at least seven joints control the position of the master hand, and the position of the master hand is the coordinate value of the intersection point of the at least three joints that control the position of the master hand. In this implementation, by setting at least three joints corresponding to the position of the master hand and at least three joints corresponding to the pose of the master hand, the master hand can move flexibly in three-dimensional space; and the position of the master hand is represented by the coordinate value of the intersection point of at least three joints that control the position of the master hand, making the method simpler and more convenient for calculation and use.

[0022] In a possible implementation of the second aspect, determining a target position from multiple positions of the master hand according to the positions of the objects around the master hand includes: determining the sum of the shortest distances between the master hand and each object around it when the master hand is in the first position according to the first position and the positions of the objects around the master hand. The shortest distance between the master hand and each object around it is not less than a preset distance threshold, and the first position is any one of the multiple positions of the master hand; determining the position of the master hand with the largest sum of the shortest distances between the master hand and each object around it among the multiple positions of the master hand as the target position. Since both the master hand and the objects around the master hand are three-dimensional objects, the shortest distance between two three-dimensional objects can be understood as the shortest distance between the outer surfaces of the two three-dimensional objects. The shortest distance is the shortest distance at which the master hand does not collide with the object. In this implementation, using the maximum value of the sum of the shortest distances between the master hand and the surrounding objects as the optimization target to obtain the target position makes the shortest distance between the master hand and the surrounding objects relatively large at the obtained target position, thereby ensuring that the master hand is not likely to collide with the objects at the target position, and thus ensuring that the target position is a better position adjustment target; and since the shortest distance is limited to be greater than or equal to the preset distance threshold, where the preset distance threshold is the preset acceptable shortest distance between the master hand and the surrounding objects, by limiting the shortest distance to be greater than or equal to the preset distance threshold, it can be further ensured that the master hand is not likely to collide with the surrounding objects at the obtained target position, improving the accuracy of the collision handling method.

[0023] In a possible implementation of the second aspect, controlling the master hand to move from the position at which a collision occurs to the target position includes: determining a guiding force based on the position at which the collision occurs and the target position; controlling the master hand to feedback the guiding force to the user; receiving an operation on the master hand by the user, where the operation is made by the user under the guidance of the guiding force; and in response to the operation, controlling the master hand to move from the position at which the collision occurs to the target position. In this implementation, the guiding force is determined based on the position at which the collision occurs and the target position, and the master hand is controlled to feedback a guiding force to the user, and the guiding force can guide the user's operation on the master hand, so that the master hand can reach the target position faster; since the master hand feedbacks a guiding force to the user, the user can control the master hand more easily, improving the user experience.

[0024] In a possible implementation of the second aspect, determining a guiding force based on the position at which the collision occurs and the target position includes: determining a distance value between the position at which the collision occurs and the target position based on the position at which the collision occurs and the target position; the distance value and the guiding force satisfy the following conditions:

[0025] F = k·Δx

[0026] In the formula: F represents the guiding force, k represents a preset coefficient, and Δx represents the distance value between the position at which the collision occurs and the target position. In this implementation, the guiding force is determined by the distance value between the position at which the collision occurs and the target position and the preset coefficient. The method is simple and has a small amount of calculation, so the guiding force can be obtained quickly, ensuring the processing speed of the master hand control method of the surgical robot.

[0027] In a possible implementation of the second aspect, during the process of controlling the master hand to move from the position at which the collision occurs to the target position, the method further includes: obtaining an updated position where the master hand is located after moving; if the updated position is different from the target position, updating the guiding force based on the updated position and the target position; if the updated position is the same as the target position, determining that it is detected that the master hand is located at the target position. In this implementation, during the process of controlling the master hand to move from the position at which the collision occurs to the target position, the updated position where the master hand is located is obtained in real time, and the updated position is compared with the target position to determine whether the master hand reaches the target position. When it is determined that the master hand does not reach the target position, the guiding force is updated, so as to ensure that the guiding force can better guide the user.

[0028] In a third aspect, an embodiment of the present application provides a doctor console, including the master hand of a surgical robot and the surgical robot master hand control device described in any one of the above first aspect embodiments.

[0029] Fourth aspect, an embodiment of the present application provides a master-slave surgical robot. The surgical robot includes a doctor's console and a surgical trolley that are communicatively connected. The master hand of the surgical robot is located at the doctor's console, and the slave end of the surgical robot is located at the surgical trolley. Wherein, the doctor's console is used to execute the steps in the surgical robot master hand control method described in any one of the above second aspect embodiments. When the surgical robot is in the adjustment mode, the posture of the master hand of the robot and the posture of the slave end of the surgical robot remain unchanged. When the position of the master hand of the robot changes, the position of the slave end of the robot remains unchanged.

[0030] Fifth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the method described in any one of the above second aspect embodiments.

[0031] Sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a server, it causes the server to execute the steps of the method described in any one of the above second aspect embodiments.

[0032] Seventh aspect, an embodiment of the present application provides a chip, including: a processor for calling and running a computer program from a memory, so that an electronic device installed with the chip executes the steps of the method described in any one of the above second aspect embodiments.

[0033] It can be understood that the beneficial effects of the above first aspect to seventh aspect can be referred to the relevant descriptions in the above second aspect, and will not be elaborated here. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 is a schematic structural diagram of a surgical robot provided by an embodiment of the present application;

[0036] Figure 2 is a schematic structural diagram of a doctor's console provided by an embodiment of the present application;

[0037] Figure 3 is a schematic structural diagram of a joint for controlling the posture of the master hand in a doctor's console provided by an embodiment of the present application;

[0038] Figure 4It is a schematic flow chart of the control process of a surgical robot provided by an embodiment of the present application;

[0039] Figure 5 It is a flow chart of a master hand control method of a surgical robot provided by an embodiment of the present application;

[0040] Figure 6 It is a schematic structural diagram of a master hand control device of a surgical robot provided by an embodiment of the present application;

[0041] Figure 7 It is a schematic structural diagram of a doctor's console provided by an embodiment of the present application. Detailed implementation manners

[0042] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures, technologies, etc. are set forth in order to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0043] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0044] It should also be understood that the term "and / or" as used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] As used in the specification of the present application and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0046] In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0048] Currently, during the master-slave instrument control process of a master-slave surgical robot system, there are other objects around the master hand in the doctor's console. The surrounding objects restrict the operation of the master hand. When the user operates the master hand and collides with the surrounding objects, the user needs to manually disconnect the instrument control, that is, the user manually presses the finger clutch to drag the master hand away from the collision object, and then the user releases the finger clutch to continue the master-slave instrument control process. If the distance that the user drags the master hand to move is not appropriate, such as too small or too large, the user needs to repeat the above process of pressing and releasing the finger clutch multiple times. Therefore, the adjustment process of the master hand is relatively cumbersome, which greatly affects the continuity of the master-slave instrument control and the user experience.

[0049] To solve the above technical problems, this application provides a master hand control device, method, and doctor's console for a surgical robot. When it is detected that the master hand collides with surrounding objects, the surgical robot is automatically switched from the instrument control mode to the adjustment mode; after entering the adjustment mode, the pose information of the master hand at the time of collision is obtained, and the pose information includes the position and the attitude at the time of collision; the target position of the master hand is determined, and at the target position, the master hand does not collide with any one of a plurality of objects; the master hand is controlled to move from the position at the time of collision to the target position, and the position of the master hand remains unchanged during the movement process; after it is detected that the master hand reaches the target position, the surgical robot is automatically switched from the adjustment mode to the instrument control mode. In the master hand control method for a surgical robot provided in this application, the doctor's console can realize the automatic switching between the instrument control mode and the adjustment mode, so that the adjustment process after the master hand collides is relatively simple. And because the doctor's console determines a suitable target position and switches to the instrument control mode only when the master hand is at the target position, after the master hand collides, the adjustment of the master hand position can be completed through one mode switch, that is, by disconnecting the instrument control process once, thus ensuring the continuity of the master-slave instrument control process and improving the user experience.

[0050] The following provides an exemplary description of the master hand control method, device, doctor's console, and surgical robot provided by this application in combination with specific embodiments.

[0051] See Figure 1 This is a schematic structural diagram of a surgical robot provided in an embodiment of this application. As Figure 1 shown, the surgical robot in the embodiment of this application includes: a doctor's console and a surgical trolley. The doctor's console is communicatively connected to the surgical trolley. The doctor's console includes the master hand of the surgical robot, and the slave end of the surgical robot is arranged on the surgical trolley, where:

[0052] The doctor's console is configured to automatically switch the surgical robot from the instrument control mode to the adjustment mode when it detects that the master hand collides with surrounding objects; after the surgical robot enters the adjustment mode, obtain the pose information of the master hand at the time of collision, where the pose information includes the position and the attitude at the time of collision; determine the target position of the master hand, where the master hand does not collide with surrounding objects at the target position; control the master hand to move from the position at the time of collision to the target position, and the attitude of the master hand remains unchanged during the movement; after detecting that the master hand reaches the target position, automatically switch the surgical robot from the adjustment mode to the instrument control mode.

[0053] The surgical trolley is configured to perform surgical operations on the lesion position of the patient through the slave end of the surgical robot.

[0054] In some embodiments, when the surgical robot is in the adjustment mode, there is no master-slave mapping between the doctor's console and the surgical trolley, that is, when the doctor operates the master hand on the doctor's console, the surgical trolley does not make any movement and adjustment. When in the instrument control mode, there is a master-slave mapping between the doctor's console and the surgical trolley.

[0055] It can be understood that when the surgical robot is in the adjustment mode, there is no master-slave mapping between the doctor's console and the surgical trolley, which may mean that the master-slave mapping between the doctor's console and the surgical trolley is in a disconnected state; or it can also be that the master-slave mapping is not disconnected, but when the doctor operates the master hand on the doctor's console, the position and attitude of the slave end in the surgical trolley do not change.

[0056] It should be understood that when the surgical robot is in the adjustment mode, when the doctor operates the master hand on the doctor's console, the position of the master hand is changed but the attitude is not changed; when the surgical robot is in the instrument control mode, when the doctor operates the master hand on the doctor's console, both the position and the attitude of the master hand can be changed.

[0057] In the surgical robot according to the embodiment of the present application, the doctor console can automatically control the switching of the surgical robot between the instrument control mode and the adjustment mode, so that the adjustment process of the master hand position after the master hand collides is relatively simple. Moreover, the doctor console also determines the target position for adjustment of the master hand, making the adjustment of the master hand position have a clear goal. Therefore, after the master hand collides, the adjustment of the master hand position can be completed through one mode switch or by disconnecting the instrument control process once, thus ensuring the continuity of the master-slave instrument control process and improving the user experience.

[0058] In some embodiments, the surgical robot further includes a vision trolley, which is communicatively connected to the doctor console and the surgical trolley respectively. During the master-slave instrument control process, the user operates the master hand in the doctor console, and the slave end in the surgical trolley performs surgical operations on the lesion position of the patient. During the operation process, the assistant doctor can assist the surgeon in performing the operation by observing the vision trolley screen.

[0059] It can be understood that the communication connection in the embodiment of the present application can be a wireless communication connection. For example, the wireless communication connection can be implemented through wireless communication technologies such as Bluetooth (BT) technology, wireless-fidelity (WiFi) technology, or near field communication (NFC) technology. Of course, the communication connection in the embodiment of the present application can also be a wired communication connection, and the present application does not make any restrictions or elaborations on this.

[0060] Figure 2 It is a schematic structural diagram of a doctor console provided by an embodiment of the present application. As Figure 2 shown, the doctor console includes an armrest 201, a left master hand 202, and a right master hand 203, and the relative positions between the left master hand 202 and the right master hand 203 and the armrest 201 are both fixed.

[0061] The collision control method in the embodiment of the present application can be used for detecting the collision of any master hand and adjusting its position. That is, if any one of the left master hand 202 and the right master hand 203 collides, it will trigger the master hand control method of the surgical robot in the embodiment of the present application, and the master hand control method of the surgical robot in the embodiment of the present application will be executed separately for each master hand in the doctor console.

[0062] In some embodiments, in the doctor console, for each master hand, at least seven joints are respectively provided. That is, each master hand realizes at least seven degrees of freedom of movement through at least seven joints. On the basis of six degrees of freedom in space, a redundant degree of freedom is set for each master hand, so that the doctor console can obtain an optimized target position in the null space.

[0063] In some embodiments, among at least seven joints corresponding to each master hand, there are at least three joints corresponding to the position of the master hand and at least three joints corresponding to the posture of the master hand. That is, in this embodiment, the master hand is a position and posture separation structure, that is, the position and posture of the master hand can be controlled separately. Therefore, when a collision is detected, the position of the master hand can be moved while keeping the posture unchanged.

[0064] It should be understood that the objects around the master hand can be objects whose distance from the master hand is less than a preset threshold, and the preset threshold can be set according to requirements.

[0065] In addition, the collision between the master hand and the surrounding objects can be the collision between the user's hand and the surrounding objects when the user operates the master hand.

[0066] Exemplarily, the objects around the master hand can be another master hand, a handrail, a display, etc., and the present application does not limit this.

[0067] It can be understood that the above only labels some components in the doctor control console shown in Figure 2 that are closely related to the master hand control method of the surgical robot in the embodiments of the present application. For other unlabeled parts, reference can be made to the conventional techniques in the art, and details are not described here.

[0068] Figure 3 is a schematic diagram of the joint structure for controlling the posture of the master hand in the doctor control console provided in an embodiment of the present application. In Figure 3 the master hand in the shown doctor control console is a position and posture separation structure, and the master hand realizes seven-degree-of-freedom movement through seven joints. Among them, three joints are used to control the position of the master hand, and four joints are used to control the posture of the master hand. As Figure 3 shown, the joints for controlling the posture of the master hand in this embodiment are the fourth joint 301, the fifth joint 302, the sixth joint 303, and the seventh joint 304 respectively; the first joint, the second joint, and the third joint for controlling the position of the master hand are not shown.

[0069] After introducing the surgical robot and the doctor control console, the control process of the surgical robot in the embodiments of the present application will be exemplarily described below in combination with Figure 1 the shown surgical robot.

[0070] Figure 4 is a schematic diagram of the control process based on the surgical robot provided in an embodiment of the present application. As Figure 4 shown, the control process mainly includes: S410 to S440, and each step will be described below.

[0071] S410, master-slave alignment.

[0072] Specifically, the master-slave alignment of a surgical robot refers to the precise matching of the position and posture between the master end (i.e., the doctor control end, such as the doctor console) and the slave end (i.e., the robot execution end, such as the operating cart). During the control process of the surgical robot, the operations of the doctor at the master end are mapped to the slave end through master-slave mapping, so that the slave end performs the actual operations. To ensure the accuracy and safety of the control process of the surgical robot, the position and posture of the master end and the slave end must be highly consistent, and the master-slave alignment is mainly used to ensure the consistency of the position and posture of the master end and the slave end.

[0073] S420, Master-slave instrument control.

[0074] It can be understood that the master-slave instrument control refers to the process in which the user controls the surgical instrument located at the slave end by controlling the master hand in the doctor console.

[0075] S430, Endoscope control.

[0076] Specifically, the endoscope control refers to the user operating the endoscope in the slave robot's hand through the master hand. The master-slave surgical robot system usually adopts advanced endoscope technologies, such as high-resolution endoscopes, three-dimensional endoscopes, and flexible endoscopes, etc., to improve the visualization and flexibility of surgical operations.

[0077] S440, Disconnect the master-slave connection.

[0078] Specifically, disconnecting the master-slave connection means disconnecting the connection between the master end (i.e., the doctor control end, such as the doctor console) and the slave end (i.e., the robot execution end, such as the operating cart) of the surgical robot, and completing the control process of the surgical robot.

[0079] It can be understood that during the process of master-slave instrument control, if it is detected that the master hand collides with an object, the position of the master hand needs to be adjusted. Among them, the master-slave instrument control can also be called instrument control. As Figure 4 shown, when it is detected that the master hand collides with an object during the master-slave instrument control process, the control process of the surgical robot further includes: steps S421 to S427.

[0080] S421, Collision detected.

[0081] It should be understood that the collision here refers to the collision of the master hand with any object around it.

[0082] S422, Automatically switch to the comfort adjustment mode.

[0083] During the instrument control process, when it is detected that the master hand collides with an object, switch from the master-slave control mode to the comfort adjustment mode. Among them, the comfort adjustment mode can also be called the adjustment mode.

[0084] In the comfort adjustment mode, the operation of the master hand by the user will not perform master-slave mapping, that is, neither the position nor the posture of the surgical instrument at the slave end will change.

[0085] S423. Calculate the target position according to the optimization objective.

[0086] It can be understood that the target position refers to the final position adjusted by the master hand. That is, after the master hand is adjusted to the target position, it can re-enter the master-slave control mode.

[0087] S424. Calculate the guiding force in real time according to the difference between the target position and the current position.

[0088] Exemplarily, the guiding force refers to the force feedback from the master hand to the user. That is, the user will feel the guiding force on the master hand, and the user can adjust the position of the master hand under the guidance of the guiding force, so as to reach the target position faster.

[0089] S425. The user operates the master hand to perform comfort adjustment.

[0090] Exemplarily, the user operating the master hand to perform comfort adjustment is the process of the user adjusting the position of the master hand. Specifically, the user operates the master hand to move away from the colliding object.

[0091] S426. Determine whether the master hand has moved to the target position. If the determination is yes, jump to step S427; if the determination is no, jump to step S424.

[0092] Specifically, when it is determined that the master hand has not reached the target position, the current position of the master hand is re-obtained, and the guiding force is recalculated according to the newly obtained current position and the target position.

[0093] S427. Automatically exit the comfort adjustment mode.

[0094] It should be understood that after exiting the comfort adjustment mode, re-enter the master-slave control process, that is, jump from step S427 to step S430.

[0095] It should be understood that Figure 4 The control process of the surgical robot in the illustrated embodiment includes master-slave instrument control and endoscope control. However, not all control processes of master-slave surgical robots require instrument control and endoscope control, which specifically depends on the type and complexity of the surgery corresponding to the control process of the surgical robot.

[0096] For example, in some simple surgeries, such as laparoscopic surgeries, it may only be necessary to use an endoscope for observation and operation, without the need for instrument control; while in some complex surgeries, such as cardiac surgeries or neurosurgeries, instrument control may be required to perform more precise and delicate operations, and an endoscope is also needed to observe the surgical area.

[0097] It can be understood that the master hand control method in the embodiments of the present application is mainly applied to the control process of a surgical robot with instrument control.

[0098] It can be understood that in the control process of the above surgical robot, master-slave instrument control is a very important stage. The master hand control method in the embodiments of the present application mainly improves the adjustment process of the master hand position after detecting a collision during the master-slave instrument control process. The master hand control method in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0099] See Figure 5 , which is a flowchart of a master hand control method for a surgical robot provided by the present application. This method is applicable to Figure 1 and Figure 2 the doctor's console shown in Figure 5 . The master hand control method in the embodiments of the present application will be described below with reference to Figure 5 . As shown in

[0100] S501, when it is detected that the master hand collides with a surrounding object, automatically switch the surgical robot from the instrument control mode to the adjustment mode.

[0101] Generally, there are multiple components provided on the doctor's console, and the surrounding objects mainly refer to the objects on the doctor's console around the master hand. Exemplarily, the doctor's console may include two master hands, a left master hand and a right master hand. The master hand in the embodiments of the present application may be any one of the master hands on the doctor's console.

[0102] It should be understood that the surrounding object may be another master hand, an armrest, a display, etc., and the present application will not elaborate on this.

[0103] It can be understood that the collision between the master hand and the surrounding object may be a collision caused by the direct contact between the master hand and the surrounding object, or a collision between the hand or arm of the doctor operating the master hand and the surrounding object, and the present application will not elaborate on this.

[0104] It should be understood that the detection of the collision between the master hand and surrounding objects can be obtained through a collision detection algorithm. For example, through the kinematics and the three-dimensional models of each object in the master hand and the surrounding objects, the collision detection method based on hierarchical bounding boxes can be used to detect the collision situation between the bounding boxes in real time. Those skilled in the art can use any available algorithm for collision detection, which will not be elaborated here.

[0105] It can be understood that the surgical robot can be a master-slave surgical robot. The doctor's console serves as the master end of the master-slave surgical robot, and the surgical trolley serves as the slave end of the master-slave surgical robot. In the instrument control mode, a master-slave mapping is performed between the doctor's console and the surgical trolley, and the position and pose of the master hand are reflected on the surgical trolley through the master-slave mapping; in the adjustment mode, no master-slave mapping is performed between the doctor's console and the surgical trolley.

[0106] S502, after the surgical robot enters the adjustment mode, obtain the pose information of the master hand when a collision occurs. The pose information includes the position and the pose when the collision occurs.

[0107] It can be understood that the pose information generally includes the position and the pose.

[0108] Exemplarily, the position when the collision occurs may include the coordinate information when the master hand collides with the surrounding objects. For example, the coordinate information of the convergence point of the joints that control the pose of the master hand when the collision occurs can be used as the position when the collision occurs.

[0109] For another example, the position when the collision occurs can also be represented by the joint angle values of all the joints that control the master hand, which will not be elaborated in this application.

[0110] S503, determine the target position of the master hand, where the master hand collides with the surrounding objects at the target position.

[0111] It should be understood that the target position is a possible position of the master hand. When the master hand is at the target position, the distance between the master hand and each object in the surrounding objects is greater than 0, so no collision will occur.

[0112] In some embodiments, the process of determining the target position of the master hand includes: determining multiple positions of the master hand in the pose when the collision occurs according to the pose of the master hand when the collision occurs and the preset relationship data between the master hand pose and the position; determining the target position from the multiple positions of the master hand according to the position where the surrounding objects of the master hand are located.

[0113] It can be understood that the preset relationship data between the master hand's posture and position includes multiple postures and multiple positions of the master hand. The relationship between the posture and the position is one-to-many, that is, each posture corresponds to multiple positions respectively. Therefore, the posture of the master hand when a collision occurs is one of the multiple poses in the preset relationship data between the master hand's posture and position. Thus, the posture of the master hand when a collision occurs will also correspond to multiple positions. Then, according to the position of each object in the objects around the master hand, the target position is selected from the multiple positions.

[0114] In some embodiments, determining the target position from the multiple positions of the master hand according to the positions of the objects around the master hand includes steps (a) to (c):

[0115] (a) First, according to the first position and the position of each object in the objects around the master hand, determine the shortest distance between each object and the master hand. The first position is any one of the multiple positions of the master hand.

[0116] It can be understood that both the master hand and each object are three-dimensional objects. There will be a definite distance value between two points on two three-dimensional objects. Selecting different points on the master hand and / or each object may correspond to different distance values. The collision position is where the two three-dimensional objects collide between the two closest points or surfaces.

[0117] Exemplarily, assume there are 10 points on the first object and 20 points on the master hand. Calculate the distance values between any one of the 10 points on the first object and any one of the 20 points on the master hand, and a total of 200 distance values are obtained; the minimum value among the 200 distance values is the shortest distance between the first object and the master hand.

[0118] (b) Sum up the multiple shortest distances to obtain the sum of the shortest distances corresponding to the first position. Each position among the multiple positions of the master hand corresponds to a sum of the shortest distances.

[0119] (c) Determine the position corresponding to the maximum value among the sums of the multiple shortest distances as the target position.

[0120] Assume that the master hand corresponds to N positions and there are M objects around the master hand. Then the sum of the shortest distances corresponding to the i-th position is obtained according to Equation (1):

[0121]

[0122] In Equation (1), D i represents the sum of the shortest distances corresponding to the i-th position, and d ij represents the shortest distance between the i-th position and the j-th object.

[0123] In some embodiments, the shortest distance between the master hand and each surrounding object is not less than a preset distance threshold.

[0124] Exemplarily, d ij also satisfies Equation (2):

[0125] d ij ≥d exp (2)

[0126] In Equation (2), d ij represents the shortest distance corresponding to the i-th position and the j-th object, and d exp represents the preset distance value.

[0127] For example, d exp can be 5 mm, 10 mm, etc., and the present application does not limit this.

[0128] It should be understood that since each position corresponds to a sum of shortest distances, the N positions of the master hand thus correspond to a total of N sums of shortest distances. The position corresponding to the largest sum of shortest distances among the N positions is the target position.

[0129] S504. Control the master hand to move from the position at the time of collision to the target position, and the posture of the master hand remains unchanged during the movement.

[0130] It should be understood that the adjustment mode of the surgical robot is to adjust the position of the master hand but cannot change the posture of the master hand. After exiting the adjustment mode, the master hand still has to start the instrument control process with the posture at the time of collision. This ensures that the posture and position of the slave end do not change during the adjustment mode, that is, after exiting the adjustment mode, the instrument control process will continue after the collision. During the movement of the master hand, the posture of the master hand remains the posture at the time of collision.

[0131] It can be understood that during the movement of the master hand, as long as the posture of the master hand remains within a certain error range, it can be considered that the posture of the master hand remains unchanged.

[0132] In some embodiments, controlling the master hand to move from the position at the time of collision to the target position specifically includes the following steps: determining a guiding force according to the position at the time of collision and the target position; controlling the master hand to feedback the guiding force to the user; receiving the operation of the user on the master hand, where the operation is made by the user under the guidance of the guiding force; and in response to the operation, controlling the master hand to move from the position at the time of collision to the target position. In this implementation, the movement of the position of the master hand is achieved by feedback the guiding force to the user, which can ensure the continuity of the user operation while helping the user move the master hand to the target position.

[0133] It should be understood that the master hand is controlled to provide feedback guiding force to the user. Specifically, the master hand is controlled to provide tactile feedback information to the user, guiding the user to move the master hand in the direction from the position at the time of collision towards the target position. By providing feedback guiding force to the user, it can help the user better adjust the position of the master hand.

[0134] In some embodiments, zero-force control is adopted for each joint used to control the position of the master hand, that is, the user has no feeling of force when operating the master hand. In the embodiments of the present application, the force required to be output by the motors of each joint used to control the position of the master hand is the sum of the force required for zero-force control and the guiding force. Therefore, the resultant force of all joints used to control the position of the master hand is equal to the guiding force, and this guiding force will be fed back to the master hand in real time, that is, fed back to the user through the master hand, so as to guide the user to move the master hand to the target position.

[0135] It should be understood that in order to make the output guiding force a three-dimensional force, at least three joints used to control the position of the master hand are required to output the guiding force.

[0136] In some embodiments, the guiding force can be determined in the following manner: First, according to the position at the time of collision and the target position, the distance value between the position at the time of collision and the target position is determined; then the distance value is substituted into Equation (3) to obtain the guiding force:

[0137] F = k·Δx (3)

[0138] In Equation (3): F represents the guiding force, k represents the preset coefficient, and Δx represents the distance value between the position at the time of collision and the target position.

[0139] In some other embodiments, the master hand can be directly controlled to move from the position at the time of collision to the target position, that is, after a collision occurs, the doctor console automatically controls the master hand to move to the target position. This implementation method can improve the efficiency of adjusting the position of the master hand.

[0140] It can be understood that the position at the time of collision and the target position can be the end position of the master hand, so the position of the intersection point of all joints controlling the posture of the master hand can be used to represent them.

[0141] For example, the position at the time of collision and the target position can include the three-dimensional position coordinates of the intersection point of all joints controlling the posture of the master hand in the defined base coordinate system.

[0142] It should be understood that the position at the time of collision and the target position can both be calculated through the joint angle values of the corresponding all joints and forward kinematics. All joints include all joints used to control the position and posture of the master hand. The calculation process of the position at the time of collision and the target position in the present application will not be elaborated.

[0143] S505 automatically switches the surgical robot from the adjustment mode to the instrument control mode after detecting that the master hand has reached the target position.

[0144] Exemplarily, during the process of controlling the master hand to move from the position at the time of collision to the target position, the master hand control method of the surgical robot further includes: obtaining the updated position where the master hand is located after moving; if the updated position is different from the target position, updating the guiding force according to the updated position and the target position; if the updated position is the same as the target position, determining that the master hand is detected to be at the target position. In this implementation manner, by detecting the position of the master hand in real time during the process of controlling the master hand to move, the guiding force is updated in real time, ensuring that the guiding force corresponds to the position where the master hand is currently located and ensuring the guiding effect.

[0145] It can be understood that the updated position being the same as the target position can be that the distance between the updated position and the target position is less than a threshold value, that is, when the master hand moves to a position very close to the target position, it can be considered that the master hand has reached the target position.

[0146] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0147] Corresponding to the master hand control method of the surgical robot in the above embodiments, an embodiment of the present application provides a master hand control device for a surgical robot. The device includes units for executing each step in the above embodiments of the master hand control method of the surgical robot.

[0148] Figure 6 The block diagram of the master hand control device for a surgical robot provided by an embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0149] Refer to Figure 6 , the master hand control device 600 for a surgical robot includes: a mode switching unit 610, a pose acquisition unit 620, a target position determination unit 630, and a movement control unit 640, where:

[0150] The mode switching unit 610 is configured to automatically switch the surgical robot from the instrument control mode to the adjustment mode when detecting that the master hand collides with surrounding objects;

[0151] The pose acquisition unit 620 is configured to obtain the pose information of the master hand at the time of collision after the surgical robot enters the adjustment mode. The pose information includes the position and the attitude at the time of collision.

[0152] A target position determination unit 630 is configured to determine a target position of the master hand, where no collision occurs between the master hand and surrounding objects at the target position;

[0153] A movement control unit 640 is configured to control the master hand to move from the position at which a collision occurs to the target position, and the posture of the master hand remains unchanged during the movement;

[0154] The mode switching unit 610 is further configured to automatically switch the surgical robot from the adjustment mode to the instrument control mode after detecting that the master hand reaches the target position.

[0155] In some embodiments, the target position determination unit 630 is configured to determine a target position of the master hand, including: determining a plurality of positions of the master hand in the posture at which a collision occurs according to the posture of the master hand at the time of collision and the preset relationship data between the posture and position of the master hand; determining the target position from the plurality of positions of the master hand according to the positions of the surrounding objects of the master hand.

[0156] In some embodiments, the master hand includes at least seven joints, and the preset relationship data between the posture and position of the master hand is determined according to the movements of the at least seven joints. One posture of the master hand corresponds to a plurality of positions.

[0157] In some embodiments, at least three of the at least seven joints are joints that control the position of the master hand, and the position of the master hand is the coordinate value of the intersection point of the at least three joints that control the position of the master hand.

[0158] In some embodiments, the target position determination unit 630 is configured to determine the target position from the plurality of positions of the master hand according to the positions of the surrounding objects of the master hand, including: determining the sum of the shortest distances between the master hand at the first position and each surrounding object according to the first position of the master hand and the positions of the surrounding objects of the master hand, where the shortest distance between the master hand and each surrounding object is not less than a preset distance threshold, and the first position is any one of the plurality of positions of the master hand; determining the master hand position with the largest sum of the shortest distances between the master hand and each surrounding object among the plurality of positions of the master hand as the target position.

[0159] In some embodiments, the movement control unit 640 is configured to control the master hand to move from the position at which a collision occurs to the target position, including: determining a guiding force according to the position at which a collision occurs and the target position; controlling the master hand to feedback the guiding force to the user; receiving an operation of the user on the master hand, where the operation is made by the user under the guidance of the guiding force; and in response to the operation, controlling the master hand to move from the position at which a collision occurs to the target position.

[0160] In some embodiments, the movement control unit 640 is configured to determine a guiding force according to the position at the time of collision and the target position, including: determining a distance value between the position at the time of collision and the target position according to the position at the time of collision and the target position; the distance value and the guiding force satisfy the following conditions:

[0161] F = k·Δx

[0162] In the formula: F represents the guiding force, k represents a preset coefficient, and Δx represents the distance value between the position at the time of collision and the target position.

[0163] In some embodiments, when the movement control unit 640 is configured to control the master hand to move from the position at the time of collision to the target position, it is further configured to: obtain an updated position where the master hand is located after moving; if the updated position is different from the target position, update the guiding force according to the updated position and the target position; if the updated position is the same as the target position, determine that the master hand is detected to be located at the target position.

[0164] It should be understood that for the specific processes of each unit in the master hand control device 600 of the surgical robot to execute the corresponding steps above, please refer to the descriptions related to the master hand control method of the surgical robot in the previous text. For the sake of brevity, it will not be elaborated here.

[0165] After introducing the master hand control method and device of the surgical robot in the embodiments of the present application, the structure of the doctor console in the embodiments of the present application will be introduced below with reference to the accompanying drawings.

[0166] The embodiments of the present application further provide a doctor console, including a master hand of the surgical robot and a master hand control device of the surgical robot as in any of the above master hand control device embodiments.

[0167] See Figure 7 FIG. 7 is a schematic structural diagram of a doctor console 7 provided in an embodiment of the present application. As Figure 7 shown, the doctor console in the embodiments of the present application includes a master hand 703 and a processor 700, and the processor 700 is configured to execute the steps in any of the above master hand control method embodiments.

[0168] In some other embodiments, the processor 700 is configured to perform the following steps: when detecting that the master hand 703 collides with surrounding objects, automatically switch the surgical robot from the instrument control mode to the adjustment mode; after the surgical robot enters the adjustment mode, obtain the pose information of the master hand 703 at the time of collision, where the pose information includes the position and the attitude at the time of collision; determine the target position of the master hand 703, where the master hand 703 does not collide with surrounding objects at the target position; control the master hand 703 to move from the position at the time of collision to the target position, and the attitude of the master hand 703 remains unchanged during the movement; after detecting that the master hand 703 is located at the target position, automatically switch the surgical robot from the adjustment mode to the instrument control mode.

[0169] Exemplarily, as Figure 7 shown, in some other embodiments, the doctor console further includes a memory 701 and a computer program 702 stored in the memory 701 and executable on the processor 700. When the processor 700 executes the computer program 702, the steps in any of the above embodiments of the method for controlling the master hand of the surgical robot are implemented.

[0170] In some other embodiments, when the processor 700 executes the computer program 702, the following steps are performed: when detecting that the master hand 703 collides with surrounding objects, automatically switch the surgical robot from the instrument control mode to the adjustment mode; after the surgical robot enters the adjustment mode, obtain the pose information of the master hand 703 at the time of collision, where the pose information includes the position and the attitude at the time of collision; determine the target position of the master hand 703, where the master hand 703 does not collide with surrounding objects at the target position; control the master hand 703 to move from the position at the time of collision to the target position, and the attitude of the master hand 703 remains unchanged during the movement; after detecting that the master hand 703 reaches the target position, automatically switch the surgical robot from the adjustment mode to the instrument control mode.

[0171] Figure 7 This is only an example of the doctor console 7 and does not limit the doctor console 7. The doctor console 7 may include more or fewer components than those shown, or combine certain components, or different components.

[0172] The so-called processor 700 may be a Central Processing Unit (CPU), and this processor 700 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0173] In some embodiments, the memory 701 may be an internal storage unit of the doctor console 7, such as the hard disk or memory of the doctor console 7. In some other embodiments, the memory 701 may also be an external storage device of the doctor console 7, such as a plug-in hard disk equipped on the doctor console 7, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 701 may also include both the internal storage unit of the doctor console 7 and the external storage device. The memory 701 is used to store an operating system, application programs, a Boot Loader, data, and other programs, such as the program code of the computer program, etc. The memory 701 may also be used to temporarily store data that has been output or will be output.

[0174] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0175] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned embodiments of various master hand control methods of the surgical robot can be implemented.

[0176] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned embodiments of various master hand control methods of the surgical robot when executed.

[0177] An embodiment of the present application further provides a chip located in an electronic device. The chip includes: a processing unit and a communication unit. The processing unit can be, for example, a processor, and the communication unit can be, for example, an input / output interface, a pin, or a circuit, etc. The processing unit can execute computer instructions to enable the electronic device to execute the steps in any one of the master hand control methods provided in the above embodiments of the present application.

[0178] Optionally, the computer instructions are stored in a storage unit.

[0179] Optionally, the storage unit is a storage unit inside the chip, such as a register, a cache, etc. The storage unit can also be a storage unit outside the chip and inside the terminal, such as a ROM or other types of static storage devices that can store static information and instructions, a random RAM, etc. Among them, the processor mentioned anywhere above can be a CPU, a microprocessor, an ASIC, or an integrated circuit for controlling the execution of the program of the above-mentioned feedback information transmission method. The processing unit and the storage unit can be decoupled and set on different physical devices, and are connected by wired or wireless means to implement the respective functions of the processing unit and the storage unit, so as to support the system chip to implement various functions in the above embodiments. Or, the processing unit and the memory can also be coupled on the same device.

[0180] Among them, the auxiliary puncture device, the computer-readable storage medium, the computer program product, or the chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0181] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the projection device / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, USB flash drive, mobile hard disk, magnetic disk or optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0182] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0183] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0184] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0185] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0186] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A master hand control device for a surgical robot, the surgical robot including a doctor's console, the master hand of the surgical robot being disposed on the doctor's console, characterized in that, The device includes: A mode switching unit, configured to automatically switch the surgical robot from the instrument control mode to the adjustment mode when it detects that the master hand collides with surrounding objects; A pose acquisition unit, configured to acquire the pose information of the master hand at the time of collision after the surgical robot enters the adjustment mode, where the pose information includes the position and the attitude at the time of collision; A target position determination unit, configured to determine the target position of the master hand, where no collision occurs between the master hand and surrounding objects at the target position; A movement control unit, configured to control the master hand to move from the position at the time of collision to the target position, and the attitude of the master hand remains unchanged during the movement; The mode switching unit is further configured to automatically switch the surgical robot from the adjustment mode to the instrument control mode after detecting that the master hand reaches the target position.

2. The device according to claim 1, characterized in that, The target position determination unit, configured to determine the target position of the master hand, includes: Determining a plurality of positions of the master hand in the attitude at the time of collision according to the attitude of the master hand at the time of collision and the preset relationship data between the attitude and the position of the master hand; Determining the target position from the plurality of positions of the master hand according to the position where the surrounding objects of the master hand are located.

3. The device according to claim 2, characterized in that, The master hand includes at least seven joints, and the preset relationship data between the attitude and the position of the master hand is determined according to the movement of the at least seven joints. One attitude of the master hand corresponds to a plurality of positions.

4. The device according to claim 3, characterized in that, At least three of the at least seven joints control the position of the master hand, and the position of the master hand is the coordinate value of the intersection point of the at least three joints that control the position of the master hand.

5. The device according to claim 2, characterized in that, The target position determination unit, configured to determine the target position from the plurality of positions of the master hand according to the position where the surrounding objects of the master hand are located, includes: Determining the sum of the shortest distances between the master hand at the first position and each surrounding object according to the first position of the master hand and the position of the surrounding objects of the master hand, where the shortest distance between the master hand and each surrounding object is not less than a preset distance threshold, and the first position is any one of the plurality of positions of the master hand; Determining the master hand position with the largest sum of the shortest distances between the master hand and each surrounding object among the plurality of positions of the master hand as the target position.

6. The device according to any one of claims 1 to 5, characterized in that, The movement control unit, configured to control the master hand to move from the position at the time of collision to the target position, includes: Determining a guiding force according to the position at the time of collision and the target position; Controlling the master hand to feedback the guiding force to the user; Receiving the operation of the user on the master hand, where the operation is made by the user under the guidance of the guiding force; In response to the operation, controlling the master hand to move from the position at the time of collision to the target position.

7. The device according to claim 6, characterized in that, The movement control unit, configured to determine a guiding force according to the position at the time of collision and the target position, includes: Determining the distance value between the position at the time of collision and the target position according to the position at the time of collision and the target position; The distance value and the guiding force satisfy the following condition: F = k·Δx Where: F represents the guiding force, k represents a preset coefficient, and Δx represents the distance value between the position at the time of the collision and the target position.

8. The device according to claim 7, characterized in that, The movement control unit is further configured to, when controlling the master hand to move from the position at the time of the collision to the target position: Obtain the updated position where the master hand is located after the movement; If the updated position is different from the target position, update the guiding force according to the updated position and the target position; If the updated position is the same as the target position, determine that the master hand is detected to be at the target position.

9. A master hand control method for a surgical robot, which is applied to a doctor's console. The surgical robot includes the doctor's console, and the master hand of the surgical robot is arranged on the doctor's console. It is characterized in that, The method includes: Automatically switching the surgical robot from the instrument control mode to the adjustment mode when it is detected that the master hand collides with surrounding objects; After the surgical robot enters the adjustment mode, obtain the pose information of the master hand at the time of the collision, where the pose information includes the position and the attitude at the time of the collision; Determine the target position of the master hand, where the master hand does not collide with surrounding objects at the target position; Control the master hand to move from the position at the time of the collision to the target position, and the attitude of the master hand remains unchanged during the movement; Automatically switch the surgical robot from the adjustment mode to the instrument control mode after it is detected that the master hand reaches the target position.

10. The master hand control method for a surgical robot according to claim 9, characterized in that, The controlling the master hand to move from the position at the time of the collision to the target position includes: Determine the guiding force according to the position at the time of the collision and the target position; Control the master hand to feedback the guiding force to the user; Receive the operation of the user on the master hand, where the operation is made by the user under the guidance of the guiding force; In response to the operation, control the master hand to move from the position at the time of the collision to the target position.

11. A doctor's console, characterized in that, It includes the master hand of the surgical robot and the surgical robot master hand control device according to any one of claims 1 to 7.

12. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, When the computer program is executed by a processor, it executes the steps in the method according to claim 9 or 10.

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