Control method, device and system for surgical robot and storage medium

Abstract

The invention provides a control method, device and system for a surgical robot and a storage medium, the surgical robot is provided with a driving part used for controlling the surgical robot to move, and the control method comprises the steps that in the movement process of the surgical robot, speed data of the driving part is obtained; judging whether the surgical robot is in a shaking mode or not according to a speed curve composed of the speed data; if the surgical robot is in the shaking mode, the surgical robot is controlled to enter a stable recovery mode, so that the surgical robot enters a normal pushing mode; the technical problems that according to an anti-shaking method in the prior art, when the surgical robot shakes, anti-shaking measures are adopted to enable the surgical robot to stop shaking, so that the surgical robot can only stop shaking after shaking, and the anti-shaking effect of the surgical robot is poor are solved. And the accuracy and the safety of the operation are further influenced.

Description

Technical Field

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

[0002] With the continuous development of medical technology, surgical robots, as advanced medical devices, play an increasingly important role in clinical surgeries. Surgical robots can assist doctors in performing complex and delicate surgical operations. However, in the actual application process of surgical robots, due to factors such as the response speed of driving components, design defects of mechanical structures, and external interference, the surgical robot may experience jitter, which affects the accuracy and safety of surgeries.

[0003] In the prior art, during the actual application of surgical robots, when the surgical robot generates jitter, anti-jitter measures are usually adopted to make the surgical robot stop jittering.

[0004] However, there are at least the following problems in the related art: The anti-jitter method in the prior art takes anti-jitter measures to make the surgical robot stop jittering when the surgical robot generates jitter, resulting in the surgical robot being able to stop jittering only after jitter occurs. Consequently, the anti-jitter effect of the surgical robot is poor, which further affects the accuracy and safety of surgeries. Summary of the Invention

[0005] The technical problem solved by the present invention is that the anti-jitter method in the prior art takes anti-jitter measures to make the surgical robot stop jittering when the surgical robot generates jitter, resulting in the surgical robot being able to stop jittering only after jitter occurs. Consequently, the anti-jitter effect of the surgical robot is poor, which further affects the accuracy and safety of surgeries.

[0006] To solve the above technical problems, in a first aspect, the present invention provides a control method for a surgical robot. The surgical robot is provided with a driving component for controlling the movement of the surgical robot. The control method includes: During the movement of the surgical robot, obtaining speed data of the driving component; Judging whether the surgical robot is in a jitter mode according to a speed curve composed of the speed data; If the surgical robot is in a jitter mode, controlling the surgical robot to enter a recovery stable mode so that the surgical robot enters a normal pushing mode.

[0007] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: By obtaining the speed data of the driving components of the surgical robot and constructing a speed curve, this solution can accurately identify whether the body of the surgical robot is in a jitter mode during operation. When it is detected that the body enters the jitter state, the system will immediately control the surgical robot to enter the recovery stable mode to ensure that the surgical robot enters the normal pushing mode, so as to monitor the body state of the surgical robot in real time and accurately, effectively improve the anti-jitter performance of the surgical robot, and further enhance the accuracy and safety of the surgical operation, providing a more stable and reliable technical guarantee for the surgical process.

[0008] In an example of the present invention, the speed curve includes a waveform curve. Judging whether the surgical robot is in a jitter mode according to the speed curve composed of speed data includes: During the movement of the surgical robot, obtain the waveform period and wave peak of the speed curve; According to the waveform period and wave peak, control the surgical robot to enter the jitter judgment mode.

[0009] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: This solution judges the body state of the surgical robot according to the waveform period and wave peak characteristics of the speed curve to ensure the accuracy and real-time of the judgment result of the body state of the surgical robot. Specifically, when the body shakes, due to the superposition of inertia and reaction force, the shaking felt by the operator through controlling the armrest may be further intensified. Therefore, judging the body state of the surgical robot according to the waveform period and wave peak characteristics of the speed curve, when it is detected that the body of the surgical robot appears jitter, the surgical robot will be immediately controlled to enter the recovery stable mode to ensure that the surgical robot enters the normal pushing mode, thereby ensuring the smoothness and accuracy of the surgical operation.

[0010] In an example of the present invention, before the surgical robot starts to move, initialize the waveform period of the speed curve. According to the waveform period and wave peak, controlling the surgical robot to enter the jitter judgment mode further includes: Obtain the current body speed of the surgical robot; In the waveform rising stage of the speed curve, obtain the first body speed at the highest wave peak of the speed curve; In the waveform falling stage of the speed curve, obtain the second body speed at the lowest wave peak of the speed curve; According to the current body speed, the first body speed and the second body speed, control the surgical robot to enter the jitter judgment mode.

[0011] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Before the surgical robot starts to move, the waveform period of the speed curve is initialized, and the peak and valley data of the speed curve are accurately obtained to more accurately identify the jitter of the fuselage, improving the accuracy of jitter judgment; Further, the fuselage speed is obtained in real time during the rising and falling stages of the waveform of the speed curve, enabling the surgical robot to quickly enter the jitter judgment mode, so that the system can respond and process the jitter problem in a timely manner, further ensuring the smoothness and accuracy of the surgical operation.

[0012] In an example of the present invention, the control method further includes: Obtaining the jitter data of the surgical robot during movement; Establishing a regression equation based on the jitter data and the fuselage speed of the surgical robot; Obtaining the jitter standard value of the surgical robot at different fuselage speeds according to the regression equation; Controlling the surgical robot to enter the jitter judgment mode according to the jitter standard value, the current fuselage speed, the first fuselage speed, and the second fuselage speed.

[0013] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: By obtaining the jitter data of the surgical robot during movement and establishing a regression equation in combination with the fuselage speed, the jitter situation of the surgical robot at different speeds can be predicted and identified more accurately, improving the recognition accuracy of jitter detection; Further, the jitter of the surgical robot is controlled more precisely according to the jitter standard value, the first fuselage speed, and the second fuselage speed, improving the stability of the surgical robot.

[0014] In an example of the present invention, the current fuselage speed is defined as V0, the first fuselage speed is defined as V1, and the second fuselage speed is defined as V2. According to the current fuselage speed, the first fuselage speed, and the second fuselage speed, the fuselage motion state of the surgical robot is obtained, including: Calculating a first speed judgment value according to the current fuselage speed and the first fuselage speed, or calculating a second speed judgment value according to the current fuselage speed and the second fuselage speed; Judging whether it is necessary to control the surgical robot to activate the fuselage jitter warning system according to the magnitude relationship between the first speed judgment value and the jitter standard value or the magnitude relationship between the second speed judgment value and the jitter standard value; If so, activate the fuselage jitter warning system to prompt the controller to control the surgical robot to enter the recovery stable mode.

[0015] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: By calculating the first speed judgment value and the second speed judgment value, and comparing the magnitude relationship between the first speed judgment value and the jitter standard value, as well as the magnitude relationship between the second speed judgment value and the jitter standard value, it can more accurately judge whether the fuselage of the surgical robot is in a jitter state, avoiding misjudgment and missed judgment, and thus further improving the accuracy of the fuselage jitter judgment result of the surgical robot.

[0016] In an example of the present invention, according to the magnitude relationship between the first speed judgment value and the jitter standard value or the magnitude relationship between the second speed judgment value and the jitter standard value, it is judged whether it is necessary to control the surgical robot to activate the jitter mode, including: Judge whether the first speed judgment value, the second speed judgment value, and the jitter standard value satisfy the following relationship: Judgment formula 1: The first speed judgment value < the jitter standard value; Judgment formula 2: The second speed judgment value < the jitter standard value; If the first speed judgment value satisfies Judgment formula 1 or the second speed judgment value satisfies Judgment formula 2, it is determined that it is necessary to control the surgical robot to activate the jitter mode.

[0017] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: This solution further avoids misjudgment and missed judgment, and thus further improves the accuracy of the fuselage jitter judgment result of the surgical robot.

[0018] In an example of the present invention, the control method further includes: When the surgical robot enters the recovery stable mode, obtain the first quantity in the waveform rising stage and the second quantity in the waveform falling stage within n waveform cycles; Whether the first quantity and the second quantity satisfy the following relationship: Judgment formula 3: ; Judgment formula 4: ; If the first quantity and the second quantity satisfy Judgment formula 3 or Judgment formula 4, control the surgical robot to exit the recovery stable mode.

[0019] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: This solution accurately judges when to exit the recovery stable mode to avoid the fuselage movement stiffness or unnecessary delay caused by over-control, and improves the operation flexibility of the surgical robot.

[0020] In a second aspect, the present invention provides a control device for a surgical robot. The control device is used to execute the control method for a surgical robot in any of the above technical solutions. The control device includes: An acquisition unit, which is configured to acquire speed data of a driving component during the movement of a surgical robot; A judgment unit, which is configured to judge whether the surgical robot is in a jitter mode according to a speed curve composed of the speed data; A control unit, which is configured to control the surgical robot to enter a recovery stable mode if the surgical robot is in a jitter mode, so that the surgical robot enters a normal pushing mode.

[0021] Compared with the prior art, the technical effects achieved by adopting this technical solution: A control device for a surgical robot provided by this solution is used to execute the control method for a surgical robot in any of the above technical solutions. Therefore, this solution has all the beneficial effects mentioned in any of the above technical solutions, which will not be elaborated here.

[0022] In a third aspect, the present invention provides a control system for a surgical robot, and the control system includes: The control device for a surgical robot in any of the above technical solutions; A memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the control method for a surgical robot in any of the above technical solutions is implemented.

[0023] Compared with the prior art, the technical effects achieved by adopting this technical solution: A control system for a surgical robot provided by this solution is used to implement the control method for a surgical robot in any of the above technical solutions. Therefore, this solution has all the beneficial effects mentioned in any of the above technical solutions, which will not be elaborated here.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor in any of the above technical solutions, the control method for a surgical robot in any of the above technical solutions is implemented.

[0025] Compared with the prior art, the technical effects achieved by adopting this technical solution: It can achieve the technical effects corresponding to any of the above examples, which will not be elaborated here.

[0026] After adopting the technical solution of the present invention, the following technical effects can be achieved: A control method, device, system and storage medium for a surgical robot provided by the present invention can accurately identify whether the fuselage of the surgical robot is in a jitter mode during operation by obtaining the speed data of the driving components of the surgical robot and constructing a speed curve. Once it is detected that the fuselage enters the jitter state, the system will immediately control the surgical robot to enter the recovery stable mode to ensure that the surgical robot enters the normal pushing mode, so as to monitor the fuselage state of the surgical robot in real time and accurately, effectively improve the anti-jitter performance of the surgical robot, and further enhance the accuracy and safety of the surgical operation, providing a more stable and reliable technical guarantee for the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings to be used in the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings. Figure 1 It is a schematic flowchart of a control method for a surgical robot provided by an embodiment of the present invention; Figure 2 It is a schematic block diagram of a control device for a surgical robot provided by an embodiment of the present invention; Figure 3 It is a schematic block diagram of a control system for a surgical robot provided by an embodiment of the present invention.

[0028] Description of the reference numerals: 100, control device; 110, acquisition unit; 120, judgment unit; 130, control unit; 200, memory; 300, processor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the drawings.

[0030] To solve the above technical problems, as Figure 1 shown, the present invention provides a control method for a surgical robot. The surgical robot is provided with driving components for controlling the movement of the surgical robot. The control method includes: S100: During the movement of the surgical robot, obtain the speed data of the driving components; S200: Judge whether the surgical robot is in the jitter mode according to the speed curve composed of the speed data; S300: If the surgical robot is in the jitter mode, control the surgical robot to enter the recovery stable mode so that the surgical robot enters the normal pushing mode.

[0031] Specifically, this solution realizes the accurate identification of whether the fuselage of the surgical robot is in the jitter mode during operation by obtaining the speed data of the driving components of the surgical robot and constructing a speed curve. When it is detected that the fuselage enters the jitter state, the system will immediately control the surgical robot to enter the recovery stable mode to ensure that the surgical robot enters the normal pushing mode, so as to monitor the fuselage state of the surgical robot in real time and accurately, effectively improve the anti-jitter performance of the surgical robot, and further enhance the accuracy and safety of the surgical operation, providing a more stable and reliable technical guarantee for the surgical process.

[0032] In an embodiment provided by the present invention, the speed curve includes a waveform curve. Judging whether the surgical robot is in the jitter mode according to the speed curve composed of speed data includes: During the movement of the surgical robot, obtain the waveform period and wave peak of the speed curve; According to the waveform period and wave peak, control the surgical robot to enter the jitter judgment mode.

[0033] Specifically, this solution judges the fuselage state of the surgical robot according to the waveform period and wave peak characteristics of the speed curve to ensure the accuracy and real-time nature of the judgment result of the fuselage state of the surgical robot. Specifically, when the fuselage shakes, due to the superposition of inertia and reaction force, the shaking felt by the operator through controlling the armrest may be further aggravated. Therefore, judging the fuselage state of the surgical robot according to the waveform period and wave peak characteristics of the speed curve, when it is detected that the fuselage of the surgical robot appears jitter, the surgical robot will be immediately controlled to enter the recovery stable mode to ensure that the surgical robot enters the normal pushing mode, thereby ensuring the smoothness and accuracy of the surgical operation.

[0034] In an embodiment provided by the present invention, before the surgical robot starts to move, initialize the waveform period of the speed curve. According to the waveform period and wave peak, controlling the surgical robot to enter the jitter judgment mode further includes: Obtain the current fuselage speed of the surgical robot; In the waveform rising stage of the speed curve, obtain the first fuselage speed at the highest wave peak of the speed curve; In the waveform falling stage of the speed curve, obtain the second fuselage speed at the lowest wave peak of the speed curve; According to the current fuselage speed, the first fuselage speed and the second fuselage speed, control the surgical robot to enter the jitter judgment mode.

[0035] Specifically, in this solution, before the surgical robot starts to move, the waveform period of the speed curve is initialized, and the peak and valley data of the speed curve are accurately obtained to more accurately identify the jitter of the fuselage, improving the accuracy of jitter judgment. Further, the fuselage speed is obtained in real time during the rising and falling stages of the waveform of the speed curve, enabling the surgical robot to quickly enter the jitter judgment mode, so that the system can respond and process jitter problems in a timely manner, further ensuring the smoothness and accuracy of surgical operations.

[0036] In an embodiment provided by the present invention, the control method further includes: Obtaining the jitter data of the surgical robot during movement; Establishing a regression equation based on the jitter data and the fuselage speed of the surgical robot; Obtaining the jitter standard value of the surgical robot at different fuselage speeds according to the regression equation; Controlling the surgical robot to enter the jitter judgment mode according to the jitter standard value, the current fuselage speed, the first fuselage speed, and the second fuselage speed.

[0037] Specifically, this solution can more accurately predict and identify the jitter of the surgical robot at different speeds by obtaining the jitter data of the surgical robot during movement and establishing a regression equation in combination with the fuselage speed, improving the recognition accuracy of jitter detection. Further, more precise control of the jitter of the surgical robot is performed according to the jitter standard value, the first fuselage speed, and the second fuselage speed, improving the stability of the surgical robot.

[0038] In an embodiment provided by the present invention, the current fuselage speed is defined as V0, the first fuselage speed is defined as V1, and the second fuselage speed is defined as V2. According to the current fuselage speed, the first fuselage speed, and the second fuselage speed, the fuselage movement state of the surgical robot is obtained, including: Calculating a first speed judgment value according to the current fuselage speed and the first fuselage speed, or calculating a second speed judgment value according to the current fuselage speed and the second fuselage speed; Judging whether it is necessary to control the surgical robot to activate the fuselage jitter warning system according to the magnitude relationship between the first speed judgment value and the jitter standard value or the magnitude relationship between the second speed judgment value and the jitter standard value; If so, activate the fuselage jitter warning system to prompt the controller to control the surgical robot to enter the recovery stable mode.

[0039] Specifically, in this solution, the first speed judgment value and the second speed judgment value are calculated, and the magnitude relationship between the first speed judgment value and the jitter standard value, as well as the magnitude relationship between the second speed judgment value and the jitter standard value, are compared to more accurately determine whether the fuselage of the surgical robot is in a jitter state, avoiding misjudgment and missed judgment situations, thereby further improving the accuracy of the fuselage jitter judgment result of the surgical robot.

[0040] In an embodiment provided by the present invention, it is determined whether to control the surgical robot to activate the jitter mode according to the magnitude relationship between the first speed judgment value and the jitter standard value or the magnitude relationship between the second speed judgment value and the jitter standard value, including: Determine whether the first speed judgment value, the second speed judgment value, and the jitter standard value satisfy the following relationships: Judgment formula 1: The first speed judgment value < the jitter standard value; Judgment formula 2: The second speed judgment value < the jitter standard value; If the first speed judgment value satisfies Judgment formula 1 or the second speed judgment value satisfies Judgment formula 2, it is determined that it is necessary to control the surgical robot to activate the jitter mode. This solution further avoids misjudgment and missed judgment situations, thereby further improving the accuracy of the fuselage jitter judgment result of the surgical robot.

[0041] In an embodiment provided by the present invention, the control method further includes: When the surgical robot enters the recovery stable mode, obtain the first quantity in the waveform rising stage and the second quantity in the waveform falling stage within n waveform cycles; Whether the first quantity and the second quantity satisfy the following relationships: Judgment formula 3: ; Judgment formula 4: ; If the first quantity and the second quantity satisfy Judgment formula 3 or Judgment formula 4, control the surgical robot to exit the recovery stable mode. This solution accurately determines when to exit the recovery stable mode to avoid the fuselage movement stiffness or unnecessary delay caused by over-control, and improves the operation flexibility of the surgical robot.

[0042] As Figure 2 shown, the present invention provides a control device for a surgical robot. The control device is used to execute the control method for a surgical robot in any of the above technical solutions. The control device includes: An acquisition unit, which is used to acquire the speed data of the driving component during the movement of the surgical robot; A judgment unit, which is used to judge whether the surgical robot is in the jitter mode according to the speed curve composed of the speed data; A control unit, which is configured to control the surgical robot to enter a recovery stable mode if the surgical robot is in a jitter mode, so that the surgical robot enters a normal pushing mode.

[0043] Specifically, a control device for a surgical robot provided in this solution is used to execute the control method for a surgical robot in any of the above technical solutions. Therefore, this solution has all the beneficial effects mentioned in any of the above technical solutions, which will not be elaborated here.

[0044] As Figure 3 shown, the present invention provides a control system for a surgical robot, and the control system includes: A control device for a surgical robot in any of the above technical solutions; A memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the control method for a surgical robot in any of the above technical solutions is implemented.

[0045] Specifically, a control system for a surgical robot provided in this solution is used to implement the control method for a surgical robot in any of the above technical solutions. Therefore, this solution has all the beneficial effects mentioned in any of the above technical solutions, which will not be elaborated here.

[0046] Finally, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor in any of the above technical solutions, the control method for a surgical robot in any of the above technical solutions is implemented.

[0047] In a specific embodiment, before the surgical robot starts to move, the waveform period of the speed curve is initialized, and the current body speed of the surgical robot is obtained. In the waveform rising stage of the speed curve, the first body speed at the highest peak of the speed curve is obtained. In the waveform falling stage of the speed curve, the second body speed at the lowest peak of the speed curve is obtained. The jitter data of the surgical robot during movement is obtained, and a regression equation is established based on the jitter data and the body speed of the surgical robot. The jitter standard value of the surgical robot at different body speeds is obtained according to the regression equation. Define the current body speed as V0, the first body speed as V1, and the second body speed as V2. Calculate the first speed judgment value according to the current body speed and the first body speed, or calculate the second speed judgment value according to the current body speed and the second body speed. Determine whether the first speed judgment value, the second speed judgment value, and the jitter standard value satisfy the following relationships: Judgment formula 1: The first speed judgment value < the jitter standard value; Judgment formula 2: The second speed judgment value < the jitter standard value. If the first speed judgment value satisfies Judgment formula 1 or the second speed judgment value satisfies Judgment formula 2, it is determined that it is necessary to control the surgical robot to activate the body jitter warning system, and the controller is prompted to control the surgical robot to enter the recovery stable mode. At this time, the controller controls the surgical robot to enter the recovery stable mode so that the surgical robot enters the normal pushing mode.

[0048] When the surgical robot enters the recovery stable mode, obtain the first quantity in the waveform rising stage and the second quantity in the waveform falling stage within n waveform periods; whether the first quantity and the second quantity satisfy the following relationships: Judgment formula 3: ; Judgment formula 4: ; If the first quantity and the second quantity satisfy Judgment formula 3 or Judgment formula 4, control the surgical robot to exit the recovery stable mode.

[0049] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope defined by the claims.

Claims

1. A control method for a surgical robot, characterized in that: The surgical robot is provided with a driving component for controlling the movement of the surgical robot, and the control method comprises: During the movement of the surgical robot, obtaining speed data of the driving component; determining whether the surgical robot is in a shaking mode according to a speed curve composed of the speed data; If the surgical robot is in the shaking mode, the surgical robot is controlled to enter a stabilization recovery mode so that the surgical robot enters a normal pushing mode.

2. The control method according to claim 1, characterized in that: The speed curve includes a waveform curve, and judging whether the surgical robot is in a shaking mode according to the speed curve composed of the speed data includes: During the movement of the surgical robot, obtaining the waveform period and the peak of the speed curve; According to the waveform period and the wave peak, the surgical robot is controlled to enter a jitter determination mode.

3. The control method according to claim 2, characterized in that: Before the surgical robot starts to move, the waveform period of the speed curve is initialized, and according to the waveform period and the wave peak, the surgical robot is controlled to enter a jitter determination mode, further comprising: Obtaining the current body speed of the surgical robot; In a rising phase of the speed curve waveform, obtaining a first fuselage speed at a highest peak of the speed curve; In a waveform descending stage of the speed curve, obtaining a second fuselage speed at a lowest peak of the speed curve; The surgical robot is controlled to enter the vibration determination mode according to the current body speed, the first body speed, and the second body speed.

4. The control method according to claim 3, characterized in that: The control method further comprises: Acquiring jitter data of the surgical robot during movement; Establishing a regression equation according to the jitter data and the body speed of the surgical robot; Obtaining a standard value of vibration of the surgical robot at different body speeds according to the regression equation; The surgical robot is controlled to enter the jitter determination mode according to the jitter standard value, the current body speed, the first body speed, and the second body speed.

5. The control method according to claim 4, characterized in that: The current body speed is defined as V0, the first body speed is defined as V1, and the second body speed is defined as V2, and the body motion state of the surgical robot is acquired according to the current body speed, the first body speed, and the second body speed, including: Calculating a first speed determination value according to the current fuselage speed and the first fuselage speed, or calculating a second speed determination value according to the current fuselage speed and the second fuselage speed; Determining whether it is necessary to control the surgical robot to activate the body vibration warning system according to the magnitude relationship between the first speed judgment value and the vibration standard value or the magnitude relationship between the second speed judgment value and the vibration standard value; If so, the body vibration warning system is activated to prompt the controller to control the surgical robot to enter the stability recovery mode.

6. The control method according to claim 5, characterized in that: The determining whether it is necessary to control the surgical robot to activate the shaking mode according to the magnitude relationship between the first speed judgment value and the shaking standard value or the magnitude relationship between the second speed judgment value and the shaking standard value includes: Determine whether the first speed judgment value, the second speed judgment value, and the jitter standard value satisfy the following relationship: Judgment formula 1: the first speed judgment value < the jitter standard value; Judgment formula 2: the second speed judgment value < the jitter standard value; If the first speed judgment value satisfies the judgment formula 1 or the second speed judgment value satisfies the judgment formula 2, it is determined that the surgical robot needs to be controlled to activate the shaking mode.

7. The control method according to any one of claims 2 to 6, characterized in that: The control method further comprises: When the surgical robot enters the stable recovery mode, obtaining a first number of the waveform rising phases and a second number of the waveform falling phases within n waveform cycles; Whether the first quantity and the second quantity satisfy the following relationship: Judgment formula 3: ; Judgment formula 4: ; If the first number and the second number satisfy judgment formula 3 or judgment formula 4, the surgical robot is controlled to exit the stability recovery mode.

8. A control device for a surgical robot, characterized in that: The control device is used to execute the control method for a surgical robot according to any one of claims 1 to 7, and the control device includes: An acquisition unit, the acquisition unit being used to acquire speed data of the driving component during the movement of the surgical robot; a judging unit, the judging unit being used to judge whether the surgical robot is in a shaking mode according to a speed curve composed of the speed data; A control unit is used to control the surgical robot to enter the stability recovery mode if the surgical robot is in the shaking mode, so as to make the surgical robot enter the normal pushing mode.

9. A control system for a surgical robot, characterized in that: The control system comprises: The control device for a surgical robot as claimed in claim 8; A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a control method for a surgical robot as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored on the storage medium. When the computer program is executed by the processor according to claim 9, the control method for a surgical robot according to any one of claims 1 to 7 is implemented.

Images