Surgical robot positioning system and method and surgical robot system

Abstract

The invention relates to a positioning system and method of a surgical robot and a surgical robot system. The system comprises a first determining module used for determining a preset working space at the tail end of a holding arm in the surgical robot, and the preset working space is the minimum space enabling an instrument connected with the holding arm to operate a focus area; the second determining module is used for determining a first working space of the tail end of the holding arm when a first target pose of a trocar of the holding arm is not changed according to a plurality of first preset angles of redundant joints in the holding arm of the surgical robot, and the first working space is larger than a preset working space; and the first positioning module is used for controlling the holding arm to perform positioning according to the first target angle of each joint of the holding arm corresponding to the first working space. By adopting the system, the dependence on doctors can be reduced, and the positioning time can be shortened.

Description

[0001] This divisional application of a Chinese invention patent application has an application date of January 8, 2024, an application number of 2024100229067, and a title of "Positioning System, Method, and Surgical Robot System for a Surgical Robot". Technical Field

[0002] This application relates to the field of medical technology, and particularly to a positioning system, method, and surgical robot system for a surgical robot. Background Art

[0003] With the progress of robot technology, surgical robots are increasingly widely used in minimally invasive surgeries. Before a surgical operation, the surgical robot needs to be positioned at a reasonable location to ensure sufficient surgical space and avoid collisions between the robotic arms of the surgical robot. Currently, the positioning process of a surgical robot needs to be manually completed by a doctor by referring to an instruction manual. The positioning process relies too much on the doctor's experience, and the positioning time is also relatively long. Summary of the Invention

[0004] Based on this, to address the above technical problems, it is necessary to provide a positioning system, method, and surgical robot system for a surgical robot that can reduce the dependence on doctors and reduce the positioning time.

[0005] In a first aspect, this application provides a positioning system for a surgical robot, including:

[0006] A first determination module, configured to determine a preset working space at the end of the instrument arm in the surgical robot, where the preset working space is the minimum space that enables the instrument connected to the instrument arm to operate on the lesion area;

[0007] A second determination module, configured to determine a first working space at the end of the instrument arm when the first target pose of the trocar in the instrument arm of the surgical robot remains unchanged according to a plurality of first preset angles of redundant joints in the instrument arm, and the first working space is larger than the preset working space;

[0008] A first positioning module, configured to control the instrument arm to perform positioning according to the first target angles of the respective joints of the instrument arm corresponding to the first working space.

[0009] In one embodiment, the instrument arm includes a yaw joint and a pitch joint, and the first working space includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint are in their corresponding maximum movement ranges.

[0010] In one embodiment, the second determination module includes:

[0011] A first determination unit, configured to perform inverse kinematics solution for each first preset angle based on the first target pose and the first preset angle, and determine the second target angles of the joints in the instrument arm.

[0012] A second determination unit, configured to determine the maximum movement range of the yaw joint of the instrument arm corresponding to the first preset angle according to the second target angle of the yaw joint and the limit angle of the yaw joint, and determine the maximum movement range of the pitch joint of the instrument arm corresponding to the first preset angle according to the second target angle of the pitch joint and the limit angle of the pitch joint.

[0013] In one embodiment, the second determination unit is further configured to:

[0014] Determine the minimum difference between the second target angle of the target joint and the limit angle of the target joint;

[0015] Determine the first movement range according to the minimum difference;

[0016] Wherein, when the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint; when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint.

[0017] In one embodiment, the system further includes:

[0018] A third determination module, configured to determine the collision risk according to the second target angles of the joints corresponding to the first working space and the pose of the adjacent already-positioned robotic arm;

[0019] A fourth determination module, configured to determine the second target angles of the joints corresponding to the first working space with the minimum collision risk as the first target angles.

[0020] In one embodiment, the first positioning module is further configured to:

[0021] Control the instrument arm to perform positioning according to the first target angles of the joints corresponding to the first working space and the current angles of the joints in the instrument arm.

[0022] In one embodiment, the first determination module includes:

[0023] A third determination unit, configured to determine the first simulation model corresponding to the lesion area;

[0024] A fourth determination unit, configured to determine the preset working space according to the distance between the telecentric point of the trocar and the lesion area and the dimension information of the first simulation model; the preset working space includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint in the instrument arm are in the corresponding preset movement ranges.

[0025] In one embodiment, the first simulation model is an ellipsoid; the fourth determination unit is further configured to:

[0026] Determine the target ratio between the target axis length and the distance of the ellipsoid in the target direction;

[0027] Determine the second motion range according to the arctangent function of the target ratio;

[0028] Wherein, the target direction includes a first direction and a second direction; when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset motion range of the yaw joint;

[0029] When the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset motion range of the pitch joint.

[0030] In one embodiment, after the robotic arm is positioned according to the first target angles of the joints of the robotic arm corresponding to the first workspace, the system further includes:

[0031] A fifth determination module, configured to determine a second simulation model of the lesion area and update the preset workspace according to the second simulation model.

[0032] In one embodiment, the second simulation model is a sphere; the fifth determination module further includes:

[0033] A fifth determination unit, configured to determine the diameter of the second simulation model according to the first position information of the center of the punch in the first robotic arm and the second position information of the center of the punch in the second robotic arm; the first robotic arm and the second robotic arm are the robotic arms for intraoperative operation;

[0034] A sixth determination unit, configured to update the preset workspace according to the diameter.

[0035] In one embodiment, the sixth determination unit is further configured to:

[0036] Determine the first ratio between half of the diameter and the distance, and update the preset motion range of the yaw joint according to the arctangent function of the first ratio;

[0037] Determine the second ratio between the diameter and the distance, and update the preset motion range of the pitch joint according to the arctangent function of the second ratio.

[0038] In one embodiment, the system further includes:

[0039] A sixth determination module, configured to obtain the current angles of the joints in the robotic arm and calculate the first target pose through the forward kinematics of the robotic arm.

[0040] In one embodiment, the system further includes:

[0041] A seventh determination module, configured to, when the lesion area is located at the center of the field of view of the endoscope, determine third position information of the telecentric point of the trocar and fourth position information of the lesion area according to the current angles of the joints in the instrument arm; the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot;

[0042] An eighth determination module, configured to determine a first target pose of the instrument arm according to the third position information and the fourth position information; the first target pose is pose information in which the third position information of the telecentric point of the trocar remains unchanged and the axis direction of the trocar points to the lesion area.

[0043] In one embodiment, the eighth determination module includes:

[0044] A seventh determination unit, configured to determine target pose information according to the third position information and the fourth position information;

[0045] An eighth determination unit, configured to determine a first target pose of the instrument arm according to the third position information and the target pose information.

[0046] In one embodiment, the seventh determination unit is further configured to:

[0047] Determine a first direction vector pointing from the telecentric point of the trocar to the lesion area according to the third position information and the fourth position information;

[0048] Determine a second direction vector and a third direction vector orthogonal to the first direction vector;

[0049] Determine target pose information according to the first direction vector, the second direction vector, and the third direction vector.

[0050] In one embodiment, the seventh determination module is further configured to:

[0051] Obtain the current angles of the joints in the instrument arm, and calculate the third position information of the telecentric point of the trocar in the suspension plate coordinate system through forward kinematics of the instrument arm.

[0052] In one embodiment, the seventh determination module is further configured to:

[0053] Obtain the current angles of the joints in the endoscope arm, calculate the fifth position information of the end of the endoscope in the suspension plate coordinate system through forward kinematics of the endoscope arm;

[0054] Determine the fourth position information according to the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system.

[0055] In one embodiment, the system further includes:

[0056] The second positioning module is used to position the instrument arm according to the first target pose.

[0057] In one embodiment, the second positioning module is further used to:

[0058] Perform inverse kinematics solution on the instrument arm according to the first target pose, and determine the target angles of the joints in the instrument arm when there is an inverse solution in the inverse kinematics solution;

[0059] Determine the first motion trajectory of the instrument arm based on the current angles and target angles of the joints in the instrument arm;

[0060] Control the instrument arm to perform positioning according to the first motion trajectory.

[0061] In one embodiment, the system further includes:

[0062] The eighth determination module is used to determine the surgical site to be operated by the surgical robot and the installation and positioning mode of the surgical robot in response to an input operation;

[0063] The third positioning module is used to position the surgical robot according to the surgical site and the installation and positioning mode in response to an enable signal.

[0064] In a second aspect, the present application further provides a positioning method for a surgical robot, including:

[0065] Determine the preset working space at the end of the instrument arm in the surgical robot, where the preset working space is the smallest space that enables the instrument connected to the instrument arm to operate on the lesion area;

[0066] Determine the first working space at the end of the instrument arm when the first target pose of the trocar in the instrument arm remains unchanged according to multiple first preset angles of the redundant joints in the surgical robot's instrument arm, and the first working space is larger than the preset working space;

[0067] Control the instrument arm to perform positioning according to the first target angles of the joints of the instrument arm corresponding to the first working space.

[0068] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0069] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program implements the steps of any of the above methods when executed by a processor.

[0070] Fifth aspect, the present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of any of the above methods.

[0071] Sixth aspect, the present application also provides a surgical robot system, including the positioning system of the surgical robot according to any one of the above.

[0072] For the positioning system, method and surgical robot system of the above surgical robot, since the preset working space is the minimum space that enables the instrument connected to the instrument arm to operate on the lesion area, and the first working space is greater than the preset working space. Therefore, the preset working space of the end of the instrument arm in the surgical robot is determined, and according to the multiple first preset angles of the redundant joints in the instrument arm of the surgical robot, the first working space of the end of the instrument arm when the first target pose of the trocar in the instrument arm remains unchanged is determined. Furthermore, after controlling the instrument arm to be positioned according to the first target angles of the respective joints of the instrument arm corresponding to the first working space, on the one hand, the actual working space of the end of the instrument arm is greater than the preset working space. In this way, the instrument connected to the instrument arm can smoothly operate on the lesion area to meet the surgical requirements. On the other hand, the first target pose remains unchanged during the positioning process of the instrument arm, reducing the impact on the target object during the positioning process. During the above positioning process of the instrument arm, it does not need to rely on the doctor's experience, so the dependence on the doctor is reduced, the positioning time is reduced, and the positioning accuracy and efficiency can also be improved. Description of the Drawings

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required to be used in the description of the embodiments or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0074] Figure 1 It is an application environment diagram of the positioning method of the surgical robot in the embodiment of the present application;

[0075] Figure 2 It is a schematic structural diagram of a positioning system of a surgical robot in the present application;

[0076] Figure 3 It is a schematic diagram of a telecentric mechanism in the embodiment of the present application;

[0077] Figure 4 It is a schematic diagram of a first simulation model in the embodiment of the present application;

[0078] Figure 5 It is a schematic diagram of a second simulation model in the embodiment of the present application;

[0079] Figure 6 Schematic diagram of a coordinate system in an embodiment of the present application;

[0080] Figure 7 Schematic diagram of an interactive interface in an embodiment of the present application;

[0081] Figure 8 Schematic diagram of a right-facing positioning mode in an embodiment of the present application;

[0082] Figure 9 Schematic diagram of a left-facing positioning mode in an embodiment of the present application;

[0083] Figure 10 Schematic diagram of a front-facing positioning mode in an embodiment of the present application;

[0084] Figure 11 Schematic flow chart of the positioning method of the surgical robot in an embodiment of the present application;

[0085] Figure 12 Schematic flow chart of a positioning in an embodiment of the present application;

[0086] Figure 13 One of the schematic diagrams of the process of the positioning method of the surgical robot in an embodiment of the present application;

[0087] Figure 14 Another schematic diagram of the process of the positioning method of the surgical robot in an embodiment of the present application;

[0088] Figure 15 Internal structure diagram of the computer device in an embodiment of the present application. Detailed implementation manners

[0089] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0090] Figure 1 Application environment diagram of the positioning method of the surgical robot in an embodiment of the present application, as Figure 1 shown, the computer device 101 can communicate with the surgical robot 102. The surgical robot 102 can be used to perform an operation on the target object 104 on the operating bed 103. The target object 104 lies on the bed body 1031, and the lesion area 1041 and the hole position 1042 can be determined on the target object 104.

[0091] The surgical robot 102 includes a surgical trolley, and the surgical trolley includes a trolley mechanism 1021 and robotic arms 1022. Among them, the trolley mechanism 1021 includes a trolley base 1021a, a trolley arm 1021b, and a suspension plate 1021c. The trolley base 1021a is the fixed base of the surgical trolley. The trolley arm 1021b is connected to the trolley base 1021a, and the trolley arm 1021b can drive the suspension plate 1021c to move during movement, so as to move the robotic arm 1022 connected to the suspension plate 1021c. The surgical trolley may include multiple robotic arms 1022, and the multiple robotic arms 1022 are respectively connected to the suspension plate 1021c.

[0092] The robotic arm 1022 includes an adjustment mechanism 1022a and a telecentric mechanism 1022b. Each robotic arm 1022 may include at least one joint. The joints of the robotic arm 1022 include active joints, that is, joints that can actively move according to the signals of the computer device 101. In some embodiments, the joints of the robotic arm 1022 may also include passive joints.

[0093] The multiple robotic arms 1022 can be divided into instrument - holding arms and endoscope - holding arms according to their functions. The instrument - holding arms are used to connect trocars and surgical instruments. That is to say, after the instrument - holding arm is connected to the trocar, the surgical instrument is arranged on the instrument - holding arm and extends into the patient's body through the trocar. The telecentric point of the trocar is the contact point between the trocar and the patient's body surface. The endoscope - holding arm is used to connect the endoscope. Among them, the trocar can also be called a cannula.

[0094] This embodiment does not limit the number of robotic arms. Taking abdominal surgery as an example, the surgical robot includes at least one instrument - holding arm and one endoscope - holding arm. Figure 1 Taking the 4 robotic arms as an example, from left to right, they are the No. 1 robotic arm, the No. 2 robotic arm, the No. 3 robotic arm, and the No. 4 robotic arm. The No. 2 robotic arm can be an endoscope - holding arm, and the remaining 3 robotic arms can be instrument - holding arms.

[0095] In some embodiments, the computer device 101 can be, but is not limited to, various personal computers, laptop computers, smartphones, tablet computers, and portable wearable devices. The portable wearable device can be a smart watch, a smart bracelet, a head - mounted device, etc. The computer device 101 can also be implemented by an independent server or a server cluster composed of multiple servers.

[0096] In some embodiments, the computer device 101 can also be disposed inside the surgical robot 102. The computer device 101 includes, but is not limited to, at least one of a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices.

[0097] In some embodiments, the computer device 101 further includes a doctor's console and a vision cart. The doctor's console and the vision cart are communicatively connected to the surgical cart. The doctor controls the surgical cart through the doctor's console to complete the operation on the patient. The vision cart is used to feedback the images during the operation.

[0098] Figure 2 The structural schematic diagram of a positioning system of a surgical robot in the present application is as Figure 2 shown. In an exemplary embodiment, a positioning system 200 of a surgical robot is provided, including a first determination module 201, a second determination module 202, and a first positioning module 203. Among them:

[0099] The first determination module 201 is configured to determine the preset working space at the end of the instrument arm in the surgical robot. The preset working space is the smallest space that enables the instrument connected to the instrument arm to operate on the lesion area.

[0100] Since in the actual surgical process, it is necessary to use the instrument arm to complete the operation on the lesion area. Therefore, positioning the instrument arm in a state that enables the end of the instrument arm to operate on the lesion area is a necessary task. Thus, in this embodiment, it is first necessary to determine the preset working space at the end of the instrument arm of the surgical robot.

[0101] It can be understood that at the end of the instrument arm before the operation is the trocar, and at the end of the instrument arm during the operation is the instrument. Furthermore, the preset working space is the smallest space that enables the instrument connected to the instrument arm to operate on the lesion area.

[0102] Optionally, the first determination module 201 can receive the preset working space sent by other devices, or the first determination module 201 can also plan according to the position where the lesion area is located to determine the preset working space at the end of the instrument arm. This embodiment does not make any limitations. It should be noted that the preset working spaces corresponding to the ends of each instrument arm may be different.

[0103] The second determination module 202 is configured to determine a first workspace of the end of the instrument arm when the first target pose of the trocar in the instrument arm of the surgical robot remains unchanged, according to multiple first preset angles of redundant joints in the instrument arm of the surgical robot, and the first workspace is larger than a preset workspace.

[0104] In this embodiment, the workspace is used to indicate the set of positions that the end of the instrument arm can reach in the current pose. When the joints in the instrument arm are at different angles, the corresponding workspaces of the end of the instrument arm will also be different. In order to enable the intraoperative instrument to operate on the lesion area, therefore, the actual workspace of the end of the instrument arm needs to be larger than the preset workspace.

[0105] Moreover, since the trocar in the instrument arm needs to be connected to the surgical instrument, in order to reduce the impact on the target object during the positioning process of the instrument arm, it is necessary to keep the first target pose of the trocar unchanged during the positioning process. Among them, the first target pose is also the pose of the center of rotation of the trocar in the instrument arm. The first target pose can be the pose determined after preoperatively positioning the instrument arm, or the pose currently obtained according to the pose sensor, which is not limited in this embodiment.

[0106] Therefore, this embodiment will determine the first workspace of the end of the instrument arm when the first target pose of the trocar remains unchanged, and moreover, the first workspace will be larger than the preset workspace. It can be understood that the first workspace being larger than the preset workspace can mean that the preset workspace is within the coverage range of the first workspace.

[0107] Furthermore, the second determination module 202 will determine the first workspace according to multiple first preset angles of redundant joints in the instrument arm of the surgical robot.

[0108] Among them, the redundant joint is used to indicate the redundant degree of freedom in the surgical robot, and the redundant joint can be a joint in the instrument arm used to adjust the position of the instrument arm. Exemplarily, assuming that the instrument arm includes joints 1 to 4, joint 1 can be used as the redundant joint of the instrument arm.

[0109] Optionally, the second determination module 202 can perform inverse kinematics solution based on the first target pose and the first preset angles, determine the target angles of the other joints in the instrument arm except the redundant joint when the redundant joint is at the first preset angles, and determine whether the workspace corresponding to the first preset angles is larger than the preset workspace according to the target angles of each joint, until the workspace corresponding to the first preset angles is larger than the preset workspace, and use the workspace larger than the preset workspace as the first workspace. Of course, the second determination module 202 can also determine the first workspace by other means, which is not limited in this embodiment.

[0110] Taking the example that the robotic arm includes joints 1 to 4 and joint 1 is a redundant joint. When joint 1 is at the first preset angle A, the second determination module 202 can perform inverse kinematics solution based on the first target pose and the first preset angle A to determine the target angles of joints 2 to 4 at the first preset angle A. Furthermore, according to the target angles of joints 2 to 4 at the first preset angle A, the working space a of the end of the robotic arm when joint 1 is at the first preset angle A and the first target pose remains unchanged is determined.

[0111] If the working space a is smaller than the preset working space, the second determination module 202 can, when joint 1 is at the first preset angle B, perform inverse kinematics solution based on the first target pose and the first preset angle B to determine the target angles of joints 2 to 4 at the first preset angle B, and according to the target angles of joints 2 to 4 at the first preset angle B, determine the working space b of the end of the robotic arm when joint 1 is at the first preset angle B and the first target pose remains unchanged. If the working space b is larger than the preset working space, the working space b can be used as the first working space.

[0112] It should be noted that the above letters are only for illustrative purposes and do not represent the actual number of the first preset angles. The same applies hereinafter and will not be elaborated further.

[0113] The first positioning module 203 is configured to control the robotic arm to perform positioning according to the first target angles of the joints of the robotic arm corresponding to the first working space.

[0114] Furthermore, after determining the first working space of the end of the robotic arm, the robotic arm can be controlled to perform positioning according to the first target angles of the joints of the robotic arm corresponding to the first working space.

[0115] Optionally, the first positioning module 203 can send drive signals to the joints of the robotic arm according to the first target angles of the joints of the robotic arm, so that the joints of the robotic arm move to the first target angles, so that, with the first target pose unchanged, the working space of the end of the robotic arm is equal to the first working space. In this way, there is sufficient surgical space for the trocar connected to the end of the robotic arm before the operation. Furthermore, during the operation, the instrument connected to the robotic arm can operate on the lesion area.

[0116] Continuing with the above example, in the case where the working space b is used as the first working space, the first target angles include the first preset angle B of joint 1 and the target angles of joints 2 to 4 at the first preset angle B. Furthermore, the first positioning module 203 can control the robotic arm to perform positioning according to the first preset angle B and the target angles of joints 2 to 4 at the first preset angle B.

[0117] In the positioning system of the above surgical robot, since the preset working space is the minimum space that enables the instrument connected to the instrument arm to operate on the lesion area, and the first working space is larger than the preset working space. Therefore, the preset working space of the end of the instrument arm in the surgical robot is determined, and according to multiple first preset angles of the redundant joints in the instrument arm of the surgical robot, the first working space of the end of the instrument arm is determined when the first target pose of the trocar in the instrument arm remains unchanged. Then, after controlling the instrument arm to be positioned according to the first target angles of the respective joints of the instrument arm corresponding to the first working space, on the one hand, the actual working space of the end of the instrument arm is larger than the preset working space. In this way, the instrument connected to the instrument arm can smoothly operate on the lesion area to meet the surgical requirements. On the other hand, the first target pose of the instrument arm remains unchanged during the positioning process, reducing the impact on the target object during the positioning process. In the above process of positioning the instrument arm, it does not rely on the doctor's experience, so the dependence on the doctor is reduced, the positioning time is reduced, and the accuracy and efficiency of the positioning can also be improved.

[0118] In an exemplary embodiment, optionally, the instrument arm includes a yaw joint and a pitch joint, and the first working space includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint are in their corresponding maximum movement ranges.

[0119] In this embodiment, since the intraoperative trolley mechanism and the adjustment mechanism usually remain stationary during the operation, the end position of the intraoperative instrument is affected by the telecentric mechanism. Figure 3 It is a schematic diagram of a telecentric mechanism in an embodiment of the present application. As Figure 3 shown, the telecentric mechanism may include a yaw joint, a pitch joint, and a telescopic joint. Considering that the telescopic joint does not have any impact on the pose of the telecentric point of the trocar, the end position of the intraoperative instrument is affected by the yaw joint and the pitch joint.

[0120] That is to say, when the yaw joint and the pitch joint in the instrument arm move to different angles respectively, the working space of the end of the instrument arm will also be different. Furthermore, in order to make the first working space larger than the preset working space, the first working space of the end of the instrument arm includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint are in their corresponding maximum movement ranges.

[0121] Among them, the maximum movement range of the yaw joint can be determined according to the limit angle of the yaw joint, and the maximum movement range of the pitch joint can be determined according to the limit angle of the pitch joint. The limit angle of the yaw joint is used to indicate the maximum angle that the yaw joint can reach. Similarly, the limit angle of the pitch joint is used to indicate the maximum angle that the pitch joint can reach.

[0122] Optionally, the limiting angle may include an upper limit value and a lower limit value. For example, the limiting angle of the yaw joint includes an upper limit value of 30° and a lower limit value of 70°. The limiting angle of the pitch joint includes an upper limit value of 20° and a lower limit value of 80°.

[0123] Since the length between the puncture card telecentric point and the instrument in the instrument arm remains unchanged, the maximum movement ranges of the yaw joint and the pitch joint can be determined by vector calculation.

[0124] Taking the yaw joint as an example, according to the position information of the puncture card telecentric point and the instrument in the current instrument arm, the first vector between the puncture card telecentric point and the instrument can be determined when the yaw joint is at the corresponding upper limit value, and the second vector between the puncture card telecentric point and the instrument can be determined when the yaw joint is at the corresponding lower limit value. Furthermore, according to the first vector and the second vector, the first included angle between the first vector and the second vector can be determined, and the first included angle is used as the maximum movement range of the yaw joint.

[0125] Taking the pitch joint as an example, similarly, according to the position information of the puncture card telecentric point and the instrument in the current instrument arm, the third vector between the puncture card telecentric point and the instrument can be determined when the pitch joint is at the corresponding upper limit value, and the fourth vector between the puncture card telecentric point and the instrument can be determined when the pitch joint is at the corresponding lower limit value. Furthermore, according to the third vector and the fourth vector, the second included angle between the third vector and the fourth vector is determined, and the second included angle is used as the maximum movement range of the pitch joint.

[0126] Among them, the position information of the puncture card telecentric point and the instrument in the current instrument arm can be obtained by a position sensor or determined by forward kinematics calculation, and this embodiment does not make a limitation.

[0127] In this embodiment, since the instrument arm includes a yaw joint and a pitch joint, and the first working space at the end of the instrument arm includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint are at the corresponding maximum movement ranges. Therefore, by using the yaw joint and the pitch joint in the instrument arm, the first working space at the end of the instrument arm can be determined efficiently and accurately.

[0128] In an exemplary embodiment, optionally, the second determination module 202 includes a first determination unit and a second determination unit. Wherein:

[0129] The first determination unit is configured to perform inverse kinematics solution based on the first target pose and each first preset angle for each first preset angle, and determine the second target angles of the joints in the instrument arm.

[0130] In this embodiment, continuing with the above example, the first determination unit can perform inverse kinematics solution based on the first target pose and the first preset angle A to determine the second target angle 1. The second target angle 1 includes the first preset angle A of joint 1 and the target angles of joints 2 to 4 at the first preset angle A.

[0131] The first determination unit can perform inverse kinematics solution based on the first target pose and the first preset angle B to determine the second target angle 2. The second target angle 2 includes the first preset angle B of joint 1 and the target angles of joints 2 to 4 at the first preset angle B, and so on. When the redundant joint has different first preset angles, for each first preset angle, the first determination unit can determine the second target angles of each joint in the tool arm.

[0132] A second determination unit is configured to determine the maximum movement range of the yaw joint of the tool arm corresponding to the first preset angle according to the second target angle of the yaw joint and the limit angle of the yaw joint, and determine the maximum movement range of the pitch joint of the tool arm corresponding to the first preset angle according to the second target angle of the pitch joint and the limit angle of the pitch joint.

[0133] In this embodiment, since the tool arm includes a yaw joint and a pitch joint, therefore, the second target angles of each joint in the tool arm include the second target angle of the yaw joint and the second target angle of the pitch joint.

[0134] Furthermore, for each first preset angle, according to the second target angle of the yaw joint and the limit angle of the yaw joint, the maximum movement range of the yaw joint can be determined. Optionally, the maximum movement range of the yaw joint can be determined according to the difference between the second target angle of the yaw joint and the limit angle of the yaw joint. For example, the difference between the second target angle of the yaw joint and the limit angle of the yaw joint is used as the maximum movement range of the yaw joint.

[0135] Continuing with the above example, after determining the second target angle of the yaw joint according to the second target angle 1 then, according to the second target angle of the yaw joint and the limit angle of the yaw joint, the maximum movement range corresponding to the yaw joint at the first preset angle A can be determined.

[0136] After determining the second target angle of the yaw joint according to the second target angle 2 then, according to the second target angle of the yaw joint and the limit angle of the yaw joint, the maximum movement range corresponding to the yaw joint at the first preset angle B can be determined, and so on. When the redundant joint is set with different first preset angles, the corresponding maximum movement ranges may also be different.

[0137] Similarly, for each first preset angle, according to the second target angle of the pitch joint and the limit angle of the pitch joint, the maximum movement range of the pitch joint of the robotic arm corresponding to the first preset angle can also be determined. The principle of the maximum movement range of the pitch joint is the same as that of the yaw joint, and will not be elaborated here.

[0138] In the above embodiments, since the inverse kinematics solution is performed based on the first target pose and the first preset angle for each first preset angle to determine the second target angle of each joint in the robotic arm, therefore, according to the second target angle of the yaw joint and the limit angle of the yaw joint, the maximum movement range of the yaw joint of the robotic arm corresponding to the first preset angle is determined, and according to the second target angle of the pitch joint and the limit angle of the pitch joint, the maximum movement range of the pitch joint of the robotic arm corresponding to the first preset angle is determined. In this way, that is, the first working space of the end of the robotic arm is determined according to the maximum movement ranges of the yaw joint and the pitch joint.

[0139] In an exemplary embodiment, optionally, the second determination unit is further configured to: determine the minimum difference between the second target angle of the target joint and the limit angle of the target joint; determine the first movement range according to the minimum difference; wherein, when the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint; when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint.

[0140] In this embodiment, the limit angle includes an upper limit value and a lower limit value. Continuing with the above example, taking the yaw joint as an example, when the redundant joint is the first preset angle A, the second target angle of the yaw joint can be determined The difference A1 between the upper limit value in the limit angle of the yaw joint, and the second target angle of the yaw joint The difference A2 between the lower limit value in the limit angle of the yaw joint. If the difference A1 is less than the difference A2, then the difference A1 is determined as the minimum difference. Further, the maximum movement range of the yaw joint at the first preset angle A can be determined according to the difference A1. For example, the difference A1 can be used as the maximum movement range of the yaw joint at the first preset angle A.

[0141] When the redundant joint is the first preset angle B, the second target angle of the yaw joint can be determined The difference B1 between the upper limit value in the limit angle of the yaw joint, and the second target angle of the yaw joint The difference B2 from the lower limit value among the limit angles of the yaw joint. If the difference B1 is greater than the difference B2, then determine the difference B2 as the minimum difference. Further, the maximum movement range of the yaw joint at the first preset angle A can be determined according to the difference B2. By analogy, for each first preset angle, the corresponding maximum movement range of the pitch joint can be determined.

[0142] Similarly for the pitch joint. Exemplarily, when the redundant joint is at the first preset angle A, the second target angle of the pitch joint can be determined. The difference A3 from the upper limit value among the limit angles of the pitch joint, and the second target angle of the pitch joint. The difference A4 from the lower limit value among the limit angles of the pitch joint. If the difference A3 is less than the difference A4, then determine the difference A3 as the minimum difference. Further, the maximum movement range of the pitch joint at the first preset angle A can be determined according to the difference A3. For example, the difference A3 can be used as the maximum movement range of the pitch joint at the first preset angle A. By analogy, for each first preset angle, the corresponding maximum movement range of the pitch joint is also determined.

[0143] In the above embodiments, since when the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint, and when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint. Therefore, after determining the minimum difference between the second target angle of the target joint and the limit angle of the target joint, the maximum movement range of the yaw joint or the maximum movement range of the pitch joint can be determined according to the minimum difference.

[0144] In an exemplary embodiment, optionally, the positioning system 200 of the surgical robot further includes a third determination module and a fourth determination module. Wherein:

[0145] The third determination module is configured to determine the collision risk according to the second target angles of the joints corresponding to the first workspace and the poses of the adjacent positioned robotic arms.

[0146] In this embodiment, when the redundant joint is at different first preset angles, the robotic arm will correspond to different workspaces. Since the redundant joint corresponds to multiple first preset angles, multiple first workspaces of the ends of the robotic arms can be determined according to the multiple first preset angles of the redundant joint.

[0147] Optionally, the second determination module can perform inverse kinematics solution based on the first target pose and the first preset angle to determine the target angles of the joints other than the redundant joint in the robotic arm when the redundant joint is at the first preset angle, and determine whether the workspace corresponding to the first preset angle is greater than the preset workspace according to the target angles of the joints, so as to obtain multiple first workspaces.

[0148] Exemplarily, taking the first preset angles including the first preset angle A, the first preset angle B, and the first preset angle C as an example. When the redundant joint is at the first preset angle A, according to the first preset angle A and the first target pose, the corresponding working space a can be determined. When the redundant joint is at the first preset angle B, according to the first preset angle A and the first target pose, the corresponding working space b can be determined. When the redundant joint is at the first preset angle C, according to the first preset angle C and the first target pose, the corresponding working space c can be determined.

[0149] If the working space a is smaller than the preset working space, the working space b is larger than the preset working space, and the working space c is larger than the preset working space, then it can be determined that the first working space can include the working space b and the working space c.

[0150] Furthermore, the third determination module can determine the collision risk according to the second target angles of the respective joints corresponding to the first working space and the poses of the adjacent already-positioned robotic arms.

[0151] Among them, the collision risk can be represented by a number. The larger the number, the higher the collision risk. The adjacent already-positioned robotic arms can be understood as the adjacent robotic arms with fixed current poses. Assuming that the 3rd robotic arm needs to be positioned, the adjacent already-positioned robotic arms can include the 2nd robotic arm and the 4th robotic arm.

[0152] Optionally, the third determination module can obtain the poses of the adjacent already-positioned robotic arms through a pose sensor, or can also calculate the poses of the adjacent already-positioned robotic arms through the current angles of the respective joints in the adjacent already-positioned robotic arms by forward kinematics.

[0153] Further optionally, the third determination module can simulate the motion trajectory of the tool-carrying arm through the second target angles of the respective joints corresponding to the first working space, and determine the collision risk according to the motion trajectory of the tool-carrying arm and the adjacent already-positioned robotic arms. Of course, the collision risk can also be determined by other means, and this embodiment is not limited thereto.

[0154] Continuing with the above example, the third determination module determines the collision risk 1 according to the second target angle 2 corresponding to the working space b and the poses of the adjacent already-positioned robotic arms, and determines the collision risk 2 according to the second target angle 3 corresponding to the working space c and the poses of the adjacent already-positioned robotic arms. The collision risk 1 represents the risk of collision with the adjacent already-positioned robotic arms when the end of the tool-carrying arm is positioned to the state corresponding to the working space b. The collision risk 2 represents the risk of collision with the adjacent already-positioned robotic arms when the end of the tool-carrying arm is positioned to the state corresponding to the working space c.

[0155] A fourth determination module, configured to determine the second target angles of the respective joints corresponding to the first working space with the minimum collision risk as the first target angles.

[0156] Further, the third determination module may determine the first working space with the minimum collision risk. Continuing with the above example, assuming that the collision risk 1 is less than the collision risk 2, then the first working space with the minimum collision risk is determined to be working space b.

[0157] After that, the second target angles of the respective joints corresponding to the first working space with the minimum collision risk can be taken as the first target angles, and the manipulator is controlled to perform a positioning according to the first target angles of the respective joints of the manipulator corresponding to this first working space.

[0158] Continuing with the above example, the first positioning module 203 takes the first preset angle B of joint 1 and the target angles of joints 2 to 4 at the first preset angle B as the first target angles to control the manipulator to perform a positioning.

[0159] In the above embodiments, since the collision risk is determined according to the second target angles of the respective joints corresponding to the first working space and the poses of the adjacent already-positioned manipulators, and the second target angles of the respective joints corresponding to the first working space with the minimum collision risk are determined as the first target angles, therefore, the collision risk of controlling the manipulator to perform a positioning according to the first target angles is reduced, and the safety of the positioning process is improved.

[0160] In an exemplary embodiment, optionally, the first positioning module 203 is further configured to control the manipulator to perform a positioning according to the first target angles of the respective joints corresponding to the first working space and the current angles of the respective joints in the manipulator.

[0161] In this embodiment, the first positioning module 203 can also obtain the current angles of the respective joints in the manipulator. Therefore, the first positioning module 203 knows the "starting angles" and "ending angles" of the respective joints in the manipulator during the positioning process. It can be understood that the current angles of the respective joints are the "starting angles", and the first target angles of the respective joints are the "ending angles".

[0162] In this way, the first positioning module 203 can control the manipulator to perform a positioning according to the first target angles of the respective joints corresponding to the first working space and the current angles of the respective joints in the manipulator.

[0163] Optionally, the first positioning module 203 may utilize a preset algorithm to perform motion planning for the manipulator according to the current angles and target angles of the respective joints in the manipulator, and determine the second motion trajectory of the manipulator.

[0164] Among them, the preset algorithm may include, but is not limited to, grid search method, free space method, and quadtree method. The second motion trajectory is used to describe the joint trajectories of each joint in the robotic arm when the robotic arm is positioned according to the first target angle. Taking joint 1 of the No. 1 robotic arm as an example, the second motion trajectory of joint 1 of the No. 1 robotic arm may include the desired angle 1 of joint 1 of the No. 1 robotic arm at time 1, the desired angle 2 at time 2, the desired angle 3 at time 3, …… the desired angle t at time t. Wherein, t is an integer greater than or equal to 1.

[0165] Further, after determining the second motion trajectory, the first positioning module 203 can control the robotic arm to be positioned according to the second motion trajectory.

[0166] Continuing to take joint 1 of the No. 1 robotic arm as an example, optionally, the first positioning module 203 can, according to the first motion trajectory, at each moment, given the driving signal of joint 1 of the No. 1 robotic arm according to the current angle of joint 1 of the No. 1 robotic arm, so that the actual angle of joint 1 of the No. 1 robotic arm at each moment meets the desired angle in the first motion trajectory. In this way, after controlling the movement of the No. 1 robotic arm, the No. 1 robotic arm can be positioned to the state corresponding to the first working space without changing the first target pose and without colliding with the adjacent already positioned robotic arms.

[0167] In the above embodiment, since the robotic arm can be controlled to be positioned according to the first target angles of each joint corresponding to the first working space and the current angles of each joint in the robotic arm, the positioning efficiency is improved.

[0168] In an exemplary embodiment, optionally, the first determination module 201 includes a third determination unit and a fourth determination unit. Wherein:

[0169] The third determination unit is used to determine the first simulation model corresponding to the lesion area.

[0170] In this embodiment, optionally, the third determination unit can obtain the attribute information such as the size and shape of the lesion area through a medical scanning device, and determine the first simulation model corresponding to the lesion area according to the attribute information. The third determination unit can also obtain the first simulation model sent by other devices. The third determination unit can also receive the relevant parameters of the lesion area input by the user, and determine the first simulation model according to the input relevant parameters.

[0171] Among them, the first simulation model may include a three-dimensional shape for simulating a lesion area, such as a sphere or a cube. The medical scanning device includes but is not limited to an ultrasonic device, a Computed Tomography (CT) device, a Magnetic Resonance Imaging (MRI) device, a Positron Emission Computed Tomography (PET) PET-CT device, etc.

[0172] A fourth determination unit is configured to determine a preset working space according to the distance between the telecentric point of the punch card and the lesion area and the size information of the first simulation model; the preset working space includes the movement range of the end of the robotic arm when the yaw joint and the pitch joint in the robotic arm are in corresponding preset movement ranges.

[0173] In this embodiment, the size information of the first simulation model is used to indicate the size of the simulation model. Taking the first simulation model as a cube as an example, the size information of the simulation model may include the side length of the cube.

[0174] The distance between the telecentric point of the punch card and the lesion area can be determined according to the position information corresponding to the telecentric point of the punch card and the position information corresponding to the lesion area.

[0175] Among them, the fourth determination unit may receive the distance between the telecentric point of the punch card and the lesion area sent by other devices. The fourth determination unit may also use a sensor to obtain the position information corresponding to the telecentric point of the punch card or the position information corresponding to the lesion area, and calculate the distance between the telecentric point of the punch card and the lesion area according to the position information corresponding to the telecentric point of the punch card and the position information corresponding to the lesion area.

[0176] Further optionally, since the telecentric point of the punch card remains unchanged during the positioning process, the position information corresponding to the telecentric point of the punch card can be determined according to the first target pose. In some embodiments, the current angles of each joint in the robotic arm may also be obtained, and the position information corresponding to the telecentric point of the punch card may be determined after forward kinematics of the robotic arm.

[0177] Furthermore, the fourth determination unit determines a preset working space according to the distance between the telecentric point of the punch card and the lesion area and the size information of the first simulation model.

[0178] Optionally, the fourth determination unit may determine the maximum movement range corresponding to the yaw joint and the maximum movement range corresponding to the pitch joint by using the arctangent function based on the distance between the telecentric point of the punch card and the lesion area and the size information of the first simulation model, and obtain the preset working space based on the maximum movement range corresponding to the yaw joint and the maximum movement range corresponding to the pitch joint.

[0179] Exemplarily, in this embodiment, optionally, the sixth determination unit may, according to the arctangent function of determine the preset movement range of the yaw joint , and according to the arctangent function of determine the preset movement range of the pitch joint . Wherein, m and n are empirical coefficients determined according to requirements and can take numbers greater than 1.

[0180] Furthermore, according to the preset movement range of the yaw joint and the preset movement range of the pitch joint , the movement range of the end of the instrument arm can be determined, that is, the preset working space is determined.

[0181] In the above embodiment, since the preset working space includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint in the instrument arm are in the corresponding preset movement ranges, therefore, by determining the first simulation model corresponding to the lesion area and according to the distance between the telecentric point of the punch card and the lesion area and the size information of the first simulation model, the preset working space can be determined more accurately.

[0182] In an exemplary embodiment, the first simulation model is an ellipsoid. The fourth determination unit is further configured to: determine the target ratio between the target axis length of the ellipsoid in the target direction and the distance; determine the second movement range according to the arctangent function of the target ratio. Wherein, the target direction includes a first direction and a second direction; when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset movement range of the yaw joint; when the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset movement range of the pitch joint.

[0183] Figure 4 FIG. 32 is a schematic diagram of a first simulation model in an embodiment of the present application. Exemplarily, the size and shape of the lesion area may be determined by a three-dimensional scanning device, and according to the size and shape of the lesion area, the lesion area is enveloped and fitted into an ellipsoid, and the end of the instrument connected to the instrument arm is fitted into a cone.

[0184] Furthermore, please continue to refer toFigure 4 The dimensional information of the first simulation model includes the axial length a of the ellipsoid in the X direction, i.e., the first direction, and the axial length b of the ellipsoid in the Z direction, i.e., the second direction. It can be understood that the yaw joint affects the movement of the robotic arm in the X direction, and the pitch joint affects the movement of the robotic arm in the Z direction.

[0185] Let the distance between the telecentric point of the stamp card and the lesion area be L. For the yaw joint, since generally two robotic arms are operated by the master hand during the operation, the working space of the robotic arm in the X direction can at least cover half of the lesion area. Based on this, the fourth determination unit determines the ratio between a / 2 and the distance L , and according to the arctangent function of determines the preset movement range of the yaw joint . Exemplarily, can be used as the preset movement range . It can be understood that the preset movement range of the yaw joint indicates the minimum movement range of the robotic arm in the X direction, and the maximum movement range of the yaw joint needs to be not less than the preset movement range .

[0186] For the pitch joint, the working space of the robotic arm in the Z direction can at least cover all of the lesion area. Based on this, the fourth determination unit determines the ratio between b and the distance L , and according to the arctangent function of determines the preset movement range of the pitch joint . Exemplarily, can be used as the preset movement range . It can be understood that the preset movement range of the pitch joint indicates the minimum movement range of the robotic arm in the Z direction, and the maximum movement range of the pitch joint needs to be not less than the preset movement range .

[0187] In one embodiment, for each first preset angle, after calculating the maximum movement ranges of the yaw joint and the pitch joint, it is compared whether the maximum movement range of the yaw joint is not less than the preset movement range , and whether the maximum movement range of the pitch joint is not less than the preset movement range , and in the case where the maximum movement range of the yaw joint is not less than the preset movement range , and the maximum movement range of the pitch joint is not less than the preset movement range , it is determined that the working space corresponding to the first preset angle is greater than the preset working space.

[0188] In the above embodiments, since the target direction includes the first direction and the second direction, when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset motion range of the yaw joint. When the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset motion range of the pitch joint. Therefore, after determining the target ratio between the target axis length and the distance of the ellipsoid in the target direction, the preset motion range of the yaw joint or the preset motion range of the pitch joint can be determined according to the arctangent function of the target ratio.

[0189] In an exemplary embodiment, optionally, after controlling the robotic arm to perform positioning according to the first target angles of the joints of the robotic arm corresponding to the first working space, the positioning system 200 of the surgical robot further includes a fifth determination module. Wherein:

[0190] The fifth determination module is configured to determine a second simulation model of the lesion area and update the preset working space according to the second simulation model.

[0191] During the intraoperative positioning of the robotic arm, there may be situations where the robotic arms are about to or have already collided during the intraoperative positioning process, or the joints in the robotic arm have moved to the limit angles, etc., and the instruments in some lesion areas cannot be operated. To make the lesion areas that could not be operated by the instruments operable, in this embodiment, the fifth determination module will determine a second simulation model of the lesion area. Among them, the second simulation model can be smaller than the first simulation model.

[0192] Optionally, the fifth determination module can determine the second simulation model according to the first simulation model and the first working space. For example, the second simulation model is obtained by subtracting the first working space from the first simulation model.

[0193] Furthermore, the fifth determination module can update the preset working space according to the second simulation model. The process of updating the preset working space according to the second simulation model can refer to the process of determining the first simulation model according to the first simulation model, which will not be elaborated here.

[0194] In this embodiment, since after controlling the robotic arm to perform positioning according to the first target angles of the joints of the robotic arm corresponding to the first working space, a second simulation model of the lesion area is determined and the preset working space is updated according to the second simulation model, the success rate of positioning is improved.

[0195] In an exemplary embodiment, optionally, the fifth determination module includes a fifth determination unit and a sixth determination unit.

[0196] The fifth determination unit is configured to determine the diameter of the second simulation model according to the first position information of the telecentric point of the punch card in the first instrument arm and the second position information of the telecentric point of the punch card in the second instrument arm; the first instrument arm and the second instrument arm are instrument arms for intraoperative operations.

[0197] In order to enable the end of the instrument to operate in an area that was previously inaccessible, the workspace can no longer be the entire lesion area, but a partial area within the lesion area. Therefore, in this embodiment, the fifth determination unit determines the second simulation model according to the end positions of the two instrument arms controlled by the master hand.

[0198] Figure 5 This is a schematic diagram of a second simulation model in an embodiment of the present application. Exemplarily, the second simulation model can be a sphere. Denote the instrument arms for intraoperative operations as the first instrument arm and the second instrument arm, then the first robotic arm is the 1st robotic arm, and the second robotic arm is the 3rd robotic arm. Among them, the robotic arms for intraoperative operations can be the robotic arms operated by the master hand.

[0199] Furthermore, the fifth determination unit can determine the diameter of the second simulation model according to the first position information of the telecentric point of the punch card in the first instrument arm and the second position information of the telecentric point of the punch card in the second instrument arm.

[0200] Optionally, the fifth determination unit can subtract the first position information and the second position information in the X direction to obtain the diameter of the second simulation model. The fifth determination unit can also perform a correction process after subtracting the first position information and the second position information in the X direction to obtain the diameter of the second simulation model.

[0201] Among them, the first position information can be obtained through a position sensor, or can be obtained by performing forward kinematics calculations on the first instrument arm after obtaining the current angles of each joint in the first instrument arm. This embodiment does not make any restrictions. The principle of the second position information is the same and will not be elaborated here.

[0202] Exemplarily, the fifth determination unit can obtain the current angles of each joint in the first instrument arm when a collision is about to occur or has occurred between the robotic arms, or the joints in the instrument arm have moved to the limit angle, etc., perform forward kinematics calculations on the first instrument arm to determine the first position information, and obtain the current angles of each joint in the second instrument arm, perform forward kinematics calculations on the second instrument arm to determine the second position information. Then, according to the first position information and the second position information, determine the diameter of the second simulation model.

[0203] The sixth determination unit is configured to update the preset workspace according to the diameter.

[0204] In this embodiment, optionally, the sixth determination unit can be based on the arctangent function Update the preset motion range of the yaw joint , and according to the arctangent function of update the preset motion range of the pitch joint . Wherein, k and q are empirical coefficients determined according to requirements and can take numbers greater than 1.

[0205] In the above embodiment, since the first instrument arm and the second instrument arm are the instrument arms for intraoperative operation, therefore, after determining the diameter of the second simulation model according to the first position information of the distal center point of the trocar in the first instrument arm and the second position information of the distal center point of the trocar in the second instrument arm, the preset working space can be updated according to the diameter to update the minimum space for the instrument to operate on the lesion area, improving the success rate and efficiency of positioning.

[0206] In an exemplary embodiment, optionally, the sixth determination unit is further configured to determine a first ratio between half of the diameter and the distance, and update the preset motion range of the yaw joint according to the arctangent function of the first ratio; determine a second ratio between the diameter and the distance, and update the preset motion range of the pitch joint according to the arctangent function of the second ratio.

[0207] In this embodiment, denote the diameter of the second simulation model as D. The fourth determination unit determines the ratio of D / 2 to the distance L , and according to the arctangent function of determine the preset motion range of the yaw joint . Exemplarily, the preset motion range can be updated to .

[0208] For the pitch joint, the fourth determination unit determines the ratio of D to the distance L , and according to the arctangent function of determine the preset motion range of the pitch joint . Exemplarily, can be used as the preset motion range .

[0209] In the above embodiment, since the first ratio between half of the diameter and the distance can be determined, and the preset motion range of the yaw joint is updated according to the arctangent function of the first ratio, and the second ratio between the diameter and the distance is determined, and the preset motion range of the pitch joint is updated according to the arctangent function of the second ratio, therefore, the preset working space can be efficiently updated by using the second simulation model.

[0210] In an exemplary embodiment, optionally, the positioning system 200 of the surgical robot further includes a sixth determination module. Wherein:

[0211] The sixth determination module is configured to obtain the current angles of the joints in the instrument arm and calculate a first target pose through the forward kinematics of the instrument arm.

[0212] During the operation, since the master hand will operate the movement of the instrument arm, the first target pose of the instrument arm during the operation may also change. Based on this, in this embodiment, after updating the preset workspace according to the second simulation model, the current angles of the joints in the instrument arm can be obtained, and the first target pose can be calculated through the forward kinematics of the instrument arm.

[0213] Furthermore, the sixth determination unit can continue to determine the first workspace of the end of the instrument arm when the first target pose of the trocar in the instrument arm remains unchanged according to multiple first preset angles of the redundant joints, and control the instrument arm to perform positioning according to the first target angles of the joints of the instrument arm corresponding to the first workspace.

[0214] In the above embodiment, since the current angles of the joints in the instrument arm can be obtained and the first target pose can be calculated through the forward kinematics of the instrument arm, the accuracy of the first target pose is improved.

[0215] The above introduced a positioning process that enables the instrument to operate on the lesion area. The following will introduce a positioning process of aligning the axis of the trocar with the lesion area on the basis that the distal center point of the trocar does not move.

[0216] In an exemplary embodiment, optionally, the positioning system 200 of the surgical robot further includes a seventh determination module and an eighth determination module. Among them:

[0217] The seventh determination module is configured to, when the lesion area is located at the center of the field of view of the endoscope, determine the third position information of the distal center point of the trocar and the fourth position information of the lesion area in the suspension plate coordinate system; the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot.

[0218] Figure 6 This is a schematic diagram of a coordinate system in the embodiments of the present application. As Figure 6 shown, in this embodiment, the suspension plate coordinate system can be determined based on the position of the suspension plate of the surgical robot , the distal center point coordinate system can be determined based on the distal center point of the trocar connected to the surgical robot , and the endoscope coordinate system can be determined based on the end of the endoscope connected to the surgical robot . For example, the suspension plate coordinate system is determined based on the center of the suspension plate , and the distal center point coordinate system is established at the distal center point of the trocar connected to the th instrument arm , an endoscopic coordinate system is established at the end of the endoscope . Among them, i can take 1, 2, 3, 4. When i = 1, it represents the first robotic arm, that is, the robotic arm No. 1, representing the telecentric point coordinate system corresponding to the robotic arm No. 1, and so on.

[0219] If the lesion area is located at the center of the endoscope's field of view, it indicates that the endoscope-holding arm has been connected to the endoscope and the endoscope has been aligned with the lesion area. Among them, the lesion area being located at the center of the endoscope's field of view can be that any point in the lesion area is located at the center of the endoscope's field of view. For example, it can be that the midpoint of the lesion area is located at the center of the endoscope's field of view.

[0220] Optionally, the doctor can install the endoscope on the endoscope-holding arm and install the trocar on the instrument-holding arm, align the endoscope with the lesion area, and after the lesion area is located at the center of the endoscope's field of view, press the positioning button so that the seventh determination module determines that the lesion area has been located at the center of the endoscope's field of view. The seventh determination module can also determine whether the lesion area is located at the center of the endoscope's field of view by periodically acquiring the image of the endoscope.

[0221] Furthermore, when the lesion area is located at the center of the endoscope's field of view, the pose of the robotic arm of the surgical robot is temporarily static and fixed. Therefore, the seventh determination module can determine the third position information of the telecentric point of the trocar connected to the instrument-holding arm in the suspension plate coordinate system according to the current angles of the joints in the robotic arm of the surgical robot and the fourth position information of the lesion area .

[0222] It can be understood that the third position information can be determined according to the current angles of the joints in the instrument-holding arm . The fourth position information can be determined according to the current angles of the joints in the endoscope-holding arm .

[0223] The following introduces the process of determining the third position information .

[0224] In an exemplary embodiment, optionally, the seventh determination module is further configured to acquire the current angles of the joints in the instrument-holding arm and calculate the third position information of the telecentric point of the trocar in the suspension plate coordinate system through the forward kinematics of the instrument-holding arm to improve the determination efficiency of the third position information .

[0225] In some embodiments, the seventh determination module can also perform post-processing such as correction on the result after the forward kinematics calculation after acquiring the current angles of the joints in the instrument-holding arm and performing the forward kinematics calculation to obtain the third position information .

[0226] Among them, the seventh determination module can obtain the current angles of the joints in each robotic arm according to the sensors corresponding to the joints in the robotic arm.

[0227] Denote , , and can respectively represent the coordinates of the third position information of the centering point of the punching card corresponding to the i-th robotic arm in the x-direction, y-direction, and z-direction.

[0228] Exemplarily, the seventh determination module can determine the third position information of the centering point of the punching card corresponding to the No. 1 robotic arm through forward kinematics according to the current angles of the joints in the No. 1 robotic arm ; according to the current angles of the joints in the No. 3 robotic arm, the third position information of the centering point of the punching card corresponding to the No. 3 robotic arm can be determined through forward kinematics ; according to the current angles of the joints in the No. 4 robotic arm, the third position information of the centering point of the punching card corresponding to the No. 4 robotic arm can be determined through forward kinematics .

[0229] It should be noted that the third position information of the centering point of the punching card in the suspension plate coordinate system can also be understood as the position information of the centering point of the punching card in the centering point coordinate system relative to the position information of the suspension plate coordinate system .

[0230] The following describes the process of determining the fourth position information of the lesion area .

[0231] In an exemplary embodiment, optionally, the seventh determination module is further configured to obtain the current angles of the joints in the endoscope arm, and calculate the fifth position information of the end of the endoscope in the suspension plate coordinate system through forward kinematics of the endoscope arm; determine the fourth position information according to the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system.

[0232] Taking the No. 2 robotic arm as the endoscope arm as an example, the seventh determination module can determine the fifth position information of the end of the endoscope corresponding to the No. 2 robotic arm in the suspension plate coordinate system according to the current angles of the joints in the No. 2 robotic arm . Among them, the fifth position information can also be understood as the pose information of the end of the endoscope in the endoscope coordinate system relative to the pose information of the suspension plate coordinate system .

[0233] Furthermore, when the seventh determination module can determine that the lesion area is located at the center of the endoscopic field of view, the sixth position information of the lesion area in the endoscopic coordinate system . Among them, . , and can respectively represent the coordinates of the sixth position information of the lesion area in the x-direction, y-direction, and z-direction.

[0234] Among them, the seventh determination module can communicate with the endoscope to obtain the sixth position information . In some embodiments, the seventh determination module can also obtain the type of the endoscope and determine the sixth position information according to the type of the endoscope . The type of the endoscope can include endoscopes of different field of view angle types, for example, it can include 30° endoscopes, 0° endoscopes, or endoscopes of other angles.

[0235] Since the positions of the centers of the fields of view of different field of view angles are different, in some embodiments, the seventh determination module can store the first correspondence between different types of endoscopes and different sixth position information. Furthermore, after determining the type of the endoscope, the sixth position information can be determined by using the type of the endoscope and the above first correspondence .

[0236] Furthermore, the fourth position information can be determined according to the fifth position information and the sixth position information . Optionally, the conversion relationship between the endoscopic coordinate system and the suspension tray coordinate system can be used to determine the fourth position information according to the fifth position information and the sixth position information and the sixth position information . .

[0237] In some embodiments, the fourth position information can also be determined according to the following formula (1) .

[0238] (1)

[0239] In the above embodiments, since the current angles of the joints in the endoscope holding arm can be obtained, the fifth position information of the end of the endoscope in the suspension tray coordinate system is calculated through the forward movement of the endoscope holding arm, and the fourth position information is determined according to the fifth position information and the sixth position information of the lesion area in the endoscopic coordinate system. Therefore, the determination efficiency of the fourth position information is improved.

[0240] In some embodiments, the seventh determination module may also perform post-processing such as correcting the result of the forward kinematics calculation after obtaining the current angles of the joints in the holding arm and performing the forward kinematics calculation, so as to obtain the fifth position information. , and based on the fifth position information and the sixth position information , determine the fourth position information . This embodiment is not limited thereto.

[0241] An eighth determination module is configured to determine a first target pose of the instrument arm according to the third position information and the fourth position information; the first target pose is the pose information in which the third position information of the centroid of the trocar remains unchanged and the axis direction of the trocar points to the lesion area.

[0242] Since the endoscope has been aligned with the lesion area and the holding arm usually does not move during the operation, only the instrument arm needs to be positioned. And since the trocar in the instrument arm needs to be connected to the surgical instrument, in order to reduce the impact on the target object during the positioning of the instrument arm and make the instrument arm face the lesion area after positioning for subsequent surgery, in this embodiment, the first position information and the second position information are determined. After that, the eighth determination module may, according to the first position information and the second position information , determine the first target pose when the first position information of the trocar remains unchanged and the axis direction of the trocar points to the lesion area .

[0243] Optionally, the eighth determination module may, according to the first position information and the second position information , determine the pose of the instrument arm when the axial direction of the trocar corresponding to the instrument arm points to the center of the lesion area, and use the first position information and the pose of the instrument arm when the centroid of the trocar points to the center of the lesion area as the first target pose .

[0244] It can be understood that the first target poses of different trocars may be different. For example, the first robotic arm corresponds to the first target pose , and the third robotic arm corresponds to the first target pose .

[0245] In the above embodiments, since the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot, and when the lesion area is located at the center of the endoscopic field of view, according to the current angles of the joints in the robotic arm of the surgical robot, the first position information of the centroid point of the trocar on the holding arm and the second position information of the lesion area in the suspension plate coordinate system are determined. In this way, the first position information and the second position information can be determined more accurately. Further, according to the first position information and the second position information, the first pose information can be determined when the first position information remains unchanged and the axis direction of the trocar points to the lesion area.

[0246] In an exemplary embodiment, optionally, the eighth determination module includes a seventh determination unit and an eighth determination unit. Among them:

[0247] The seventh determination unit is configured to determine target pose information according to the third position information and the fourth position information.

[0248] In this embodiment, since the third position information is the position information of the centroid point of the trocar in the suspension plate coordinate system when the lesion area is located at the center of the endoscopic field of view. The fourth position information is the position information of the lesion area in the suspension plate coordinate system when the lesion area is located at the center of the endoscopic field of view. Therefore, according to the third position information and the fourth position information , the target pose information can be determined.

[0249] Among them, the target pose information is the pose information of the holding arm when the axis direction of the trocar on the holding arm points to the lesion area. Optionally, the seventh determination unit can subtract the fourth position information from the third position information corresponding to each holding arm to determine the target pose information corresponding to each holding arm.

[0250] The eighth determination unit is configured to determine the first target pose of the holding arm according to the third position information and the target pose information.

[0251] Further, after determining the target pose information of the endoscope holding arm , since the third position information remains unchanged, therefore, according to the third position information and the target pose information , the first target pose of the trocar can be determined. Among them, the first target pose includes the first position information and the target pose information . That is to say, the eighth determination unit can use the first position information and the target pose information as the first target pose .

[0252] Exemplarily, the eighth determination unit may determine the first target pose according to the following formula (2) .

[0253] (2)

[0254] In the above embodiment, since the target pose information is the pose information of the punch card when the axis of the punch card of the robotic arm points to the lesion area, therefore, according to the third position information and the fourth position information, the target pose information is determined, and according to the third position information and the target pose information, the first target pose that meets the positioning expectation can be determined.

[0255] In an exemplary embodiment, the seventh determination unit is further configured to determine a first direction vector pointing from the centroid point of the punch card to the lesion area according to the third position information and the fourth position information; determine a second direction vector and a third direction vector orthogonal to the first direction vector; and determine the target pose information according to the first direction vector, the second direction vector, and the third direction vector.

[0256] In this embodiment, since the third position information is the position information of the centroid point of the punch card corresponding to the robotic arm in the suspension plate coordinate system, and the fourth position information is the position information of the lesion area in the suspension plate coordinate system when the lesion area is at the center of the field of view of the endoscope, therefore, according to the third position information and the fourth position information , the first direction vector pointing from the axis direction of the punch card to the lesion area in the ith robotic arm can be determined . It can be understood that the first direction vector is the direction vector of the axis where the punch card of the ith robotic arm is located, that is, the vector in the y direction in the centroid point coordinate system .

[0257] Among them, the third position information can be subtracted from the fourth position information to obtain a first result, and after vectorizing the first result, the first direction vector is obtained.

[0258] Exemplarily, for the No. 1 robotic arm, according to the third position information and the fourth position information , the first direction vector corresponding to the No. 1 robotic arm can be determined . Similarly, the first direction vector corresponding to the No. 3 robotic arm can also be determined , and the first direction vector corresponding to the robotic arm No. 4 .

[0259] Furthermore, since there are no other constraints in the direction perpendicular to the axis where the punching card is located, the second determination subunit 502 can determine two direction vectors orthogonal to the first direction vector in any space as the second direction vector and the third direction vector . Among them, the second direction vector is also the vector in the x direction, and the third direction vector is also the vector in the z direction.

[0260] That is to say, the second direction vector and the third direction vector can be selected from the space, as long as for the same robotic arm, the first direction vector , the second direction vector and the third direction vector are perpendicular to each other pairwise. Optionally, the second direction vector and the third direction vector can be unit vectors.

[0261] Exemplarily, for the robotic arm No. 1, the first determination unit 402 determines the second direction vector orthogonal to the first direction vector and the third direction vector . The same applies to other robotic arms and will not be elaborated here.

[0262] Furthermore, the first determination unit 402 can determine the target pose information according to the first direction vector , the second direction vector and the third direction vector . Optionally, the third determination subunit 503 can use the first direction vector , the second direction vector and the third direction vector as the target pose information . That is, .

[0263] Continuing with the above example, then can be used as the target pose information of the robotic arm No. 1 , can be used as the target pose information of the robotic arm No. 3 , can be used as the target pose information of the robotic arm No. 4 .

[0264] In the above embodiments, since the first direction vector pointing from the telecentric point of the punch card to the lesion area is determined according to the third position information and the fourth position information, and the second direction vector and the third direction vector orthogonal to the first direction vector are determined, in this way, according to the first direction vector, the second direction vector and the third direction vector, the target pose information that enables the axis direction of the punch card to point to the lesion area can be accurately and efficiently determined.

[0265] In an exemplary embodiment, optionally, the positioning system 200 of the surgical robot further includes a second positioning module. Wherein:

[0266] The second positioning module is used to position the instrument arm according to the first target pose.

[0267] In this embodiment, the second positioning module can position the instrument arm according to the first target pose. Optionally, for each instrument arm, the second positioning module can perform inverse kinematics solution on the instrument arm according to the first target pose to determine the solution result. Furthermore, the second positioning module determines the motion strategies of each instrument arm according to the solution results of each instrument arm, so as to control the motion of each robotic arm according to the motion strategies.

[0268] In the above embodiments, since the first target pose is the pose information when the first position information remains unchanged and the axis direction of the punch card points to the lesion area, therefore, after positioning the instrument arm according to the first target pose, it is possible to align the axis direction of the punch card with the lesion area while the telecentric point of the punch card corresponding to the instrument arm remains stationary. In the process of positioning the instrument arm as described above, it is not necessary to rely on the doctor's experience, so the dependence on the doctor is reduced, the positioning time is reduced, and the accuracy and efficiency of positioning can also be improved.

[0269] In an exemplary embodiment, the second positioning module is further configured to: perform inverse kinematics solution on the instrument arm according to the first target pose, and determine the target angles of the joints in the instrument arm when there is an inverse solution in the inverse kinematics solution; based on the current angles and the target angles of the joints in the instrument arm, determine the first motion trajectory of the instrument arm; and control the instrument arm to perform positioning according to the first motion trajectory.

[0270] In this embodiment, after determining the first target pose, the second positioning module can perform inverse kinematics solution on the instrument arm according to the first target pose. When there is an inverse solution in the inverse kinematics solution, the inverse solution obtained is the target angle of each joint in the instrument arm. Among them, the target angle is also the angle that each joint in the instrument arm finally needs to reach after the positioning is completed.

[0271] Exemplarily, assume that the robotic arm No. 1 includes joints 1 to 3. After the second positioning module performs inverse kinematics calculation on the robotic arm No. 1 according to the first target pose, the target angle 1 of joint 1 of the robotic arm No. 1, the target angle 2 of joint 2 of the robotic arm No. 1, and the target angle 3 of joint 3 of the robotic arm No. 1 can be determined. The same applies to other robotic arms, which will not be elaborated here.

[0272] Optionally, when performing inverse kinematics calculation on the robotic arm according to the first target pose, there may be no inverse solution. In the case where there is no inverse solution in the inverse kinematics calculation, the second positioning module can send a prompt message to prompt the doctor that the current positioning fails.

[0273] Furthermore, the second positioning module can also determine the current angles of the joints in the robotic arm. Therefore, the second positioning module knows the "starting angle" and "ending angle" of each joint in the robotic arm during the positioning process. In this way, the second positioning module can perform motion planning on the robotic arm according to the current angles and target angles of the joints in the robotic arm to determine the first motion trajectory of the robotic arm.

[0274] Optionally, the second positioning module can use a preset algorithm to determine the first motion trajectory of the robotic arm according to the current angles and target angles of the joints in the robotic arm. The preset algorithm can include, but is not limited to, grid search method, free space method, and quadtree method.

[0275] Similarly, when the first motion trajectory is used to position the robotic arm according to the first target pose, it describes the joint trajectories of the joints in the robotic arm. Taking joint 1 of the robotic arm No. 1 as an example, the first motion trajectory of the robotic arm No. 1 can include the desired angle 1 of joint 1 of the robotic arm No. 1 at time 1, the desired angle 2 at time 2, the desired angle 3 at time 3,..., and the desired angle t at time t. Here, t is an integer greater than or equal to 1.

[0276] Furthermore, after determining the first motion trajectory, the second positioning module can control the robotic arm to perform positioning according to the first motion trajectory.

[0277] Continuing to take joint 1 of the robotic arm No. 1 as an example, optionally, the second positioning module can, according to the first motion trajectory, at each moment, given the current angle of joint 1 of the robotic arm No. 1, give the drive signal of joint 1 of the robotic arm No. 1 at each moment, so that the actual angle of joint 1 of the robotic arm No. 1 at each moment satisfies the desired angle in the first motion trajectory.

[0278] In some embodiments, the second positioning module may also determine a plurality of candidate path points of the robotic arm according to the current angles, target angles, and target parameters of the joints in the robotic arm. The target parameters include at least one of a preset step size, the angle limit range of each joint, and a collision detection threshold. The preset step size is used to indicate the step size for planning the robotic arm. The angle limit range is used to indicate the adjustable angle range of each joint in the robotic arm to avoid the situation where the rotation angle of the joint is outside the angle limit range. The collision detection threshold may include an arm spacing threshold between the robotic arms to avoid collisions during the positioning of the robotic arm.

[0279] In this way, based on the current angles and target angles of the joints in the robotic arm, by setting a preset step size, an angle limit range, and a collision detection threshold, a collision-free path from the current angle to the target angle can be determined within the joint space planning of the robotic arm, thereby obtaining the candidate path points of each joint in the robotic arm.

[0280] Furthermore, according to each candidate path point, the first motion trajectory can be determined. For example, the second positioning module determines the first motion trajectory through multi-axis synchronous trajectory planning based on each candidate path point.

[0281] Furthermore, after each joint of the robotic arm moves according to the first motion trajectory, the robotic arm can reach the first target pose. In this way, the axis direction of the puncture card is pointed to the lesion area while the first position information remains unchanged.

[0282] In the above embodiments, inverse kinematics solution is performed on the robotic arm according to the first target pose. When there is an inverse solution in the inverse kinematics solution, the target angles of the joints in the robotic arm are determined, and based on the current angles and target angles of the joints in the robotic arm, the first motion trajectory of the robotic arm is determined. In this way, after controlling the robotic arm to perform positioning according to the first motion trajectory, the puncture card corresponding to the robotic arm satisfies the first target pose.

[0283] In an exemplary embodiment, optionally, the positioning system 200 of the surgical robot further includes an eighth determination module and a third positioning module. Wherein:

[0284] The eighth determination module is configured to determine the surgical site to be operated on by the surgical robot and the installation and positioning mode of the surgical robot in response to an input operation.

[0285] In this embodiment, the eighth determination module can provide an interactive interface. The interactive interface may include a plurality of candidate surgical sites and a plurality of candidate positioning modes. The user can initiate an input operation based on the interactive interface to select the surgical site to be operated on from the plurality of candidate surgical sites, and select the installation positioning mode from the plurality of candidate positioning modes. In this way, the eighth determination module can determine the surgical site to be operated on by the surgical robot and the installation positioning mode of the surgical robot in response to the input operation.

[0286] Among them, the surgical site can be any part of the target object. The installation positioning mode is used to indicate the orientation relationship between the surgical robot and the target object.

[0287] Figure 7 It is a schematic diagram of an interactive interface in an embodiment of the present application. As Figure 7 shown, the candidate surgical sites can include the chest cavity, heart, upper abdomen, lower abdomen, kidneys, and pelvis. In some embodiments, the candidate surgical sites may also include, but are not limited to, the rectum, liver and gallbladder, etc. This embodiment is not limited thereto.

[0288] Please continue to refer to Figure 7 , the candidate positioning modes can include the Right mode, the Left mode, and the Straight mode. Among them, the Right mode is the right-facing positioning mode. Figure 8 It is a schematic diagram of a right-facing positioning mode in an embodiment of the present application. As Figure 8 shown, in the Right mode, the surgical robot 102 is on the left side of the operating bed 103, and the suspension tray in the surgical robot rotates to the right by a certain angle. The Left mode is the left-facing positioning mode. Figure 9 It is a schematic diagram of a left-facing positioning mode in an embodiment of the present application. As Figure 9 shown, in the Left mode, the surgical robot 102 is on the right side of the operating bed 103, and the suspension tray in the surgical robot rotates to the left by a certain angle. The Straight mode is the front-facing positioning mode. Figure 10 It is a schematic diagram of a front-facing positioning mode in an embodiment of the present application. As Figure 10 shown, in the Straight mode, the surgical robot 102 can be on the foot side of the target object in the operating bed 103, and the suspension tray in the surgical robot does not rotate and remains forward.

[0289] Exemplarily, the eighth determination module can determine that the surgical site is the pelvis and the installation positioning mode is the Right mode in response to the input operation.

[0290] The third positioning module is configured to position the surgical robot according to the surgical site and the installation positioning mode in response to the enable signal.

[0291] Among them, the interactive interface may include an enabling control. The third positioning module may generate a corresponding enabling signal in response to an operation on the enabling control in the interactive interface. Please continue to refer to Figure 7 , the interactive interface includes "automatic positioning". In this way, the user can press "automatic positioning". During the process of the user pressing "automatic positioning", the third positioning module can generate an enabling signal. Furthermore, the third positioning module can respond to the enabling signal and position the surgical robot according to the surgical site and the installed positioning mode.

[0292] Optionally, the third positioning module may store a second corresponding relationship between different candidate surgical sites, candidate positioning modes, and positioning methods. In this way, the third positioning module can determine the corresponding target positioning method according to the surgical site and the installed positioning mode by using the second corresponding relationship. Furthermore, the third positioning module can position the surgical robot by using the target positioning method.

[0293] Among them, the target positioning method may include moving the surgical robot to a preset position and / or rotating the suspension tray in the surgical robot by a preset angle. The preset angle may be within the range of [-90, 90°], which is not limited in this embodiment.

[0294] Continuing with the above example, after determining that the surgical site is the pelvic cavity and the installed positioning mode is the Right mode, the third positioning module can, in response to the enabling signal, move the surgical robot to the left side of the operating table and rotate the suspension tray of the surgical robot to the right by a preset angle.

[0295] In some embodiments, the third positioning module may also respond to a stop enabling signal to stop the surgical robot from positioning. For example, when there is an unexpected situation or the doctor needs to give priority to dealing with other things, the doctor can release the "automatic positioning" in the interactive interface. In this way, the surgical robot can stop automatic positioning. If the user continues to long-press "automatic positioning" again, the surgical robot will continue to position.

[0296] In the above embodiments, since it can respond to the input operation, determine the surgical site to be operated on by the surgical robot and the installed positioning mode of the surgical robot, and respond to the enabling signal to position the surgical robot according to the surgical site and the installed positioning mode. Therefore, after positioning the surgical robot, the surgical robot can be reasonably located near the target object, which is convenient for the subsequent robotic arm to align with the lesion area and improves the positioning efficiency of the subsequent instrument-holding arm.

[0297] Each module in the positioning system of the above surgical robot can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0298] Based on the same inventive concept, an embodiment of the present application also provides a positioning method for a surgical robot. The implementation solution for solving the problem provided by this method is similar to the implementation solution described in the above system. Therefore, the specific limitations in one or more embodiments of the positioning method for a surgical robot provided below can refer to the limitations on the positioning system of the surgical robot in the above text, and will not be elaborated here.

[0299] Figure 11 It is a schematic flowchart of the positioning method for a surgical robot in an embodiment of the present application. In an exemplary embodiment, as Figure 11 shown, a positioning method for a surgical robot is provided. Taking the computer device in Figure 1 as an example for illustration, it includes the following S1101 to S1103.

[0300] S1101, determine the preset working space at the end of the instrument arm in the surgical robot. The preset working space is the minimum space that enables the instrument connected to the instrument arm to operate on the lesion area.

[0301] S1102, according to multiple first preset angles of the redundant joints in the instrument arm of the surgical robot, determine the first working space at the end of the instrument arm when the first target pose of the trocar in the instrument arm remains unchanged. The first working space is larger than the preset working space.

[0302] S1103, control the instrument arm to perform positioning according to the first target angles of each joint of the instrument arm corresponding to the first working space.

[0303] In an exemplary embodiment, optionally, the instrument arm includes a yaw joint and a pitch joint. The first working space at the end of the instrument arm includes the movement range at the end of the instrument arm when the yaw joint and the pitch joint are in the corresponding maximum movement ranges.

[0304] In an exemplary embodiment, optionally, S1102 can be implemented in the following manner:

[0305] For each first preset angle, perform inverse kinematics solution based on the first target pose and the first preset angle to determine the second target angles of the joints in the robotic arm; according to the second target angle of the yaw joint and the limit angle of the yaw joint, determine the maximum movement range of the yaw joint of the robotic arm corresponding to the first preset angle, and according to the second target angle of the pitch joint and the limit angle of the pitch joint, determine the maximum movement range of the pitch joint of the robotic arm corresponding to the first preset angle.

[0306] In an exemplary embodiment, optionally, the above "according to the second target angle of the yaw joint and the limit angle of the yaw joint, determine the maximum movement range of the yaw joint of the robotic arm corresponding to the first preset angle, and according to the second target angle of the pitch joint and the limit angle of the pitch joint, determine the maximum movement range of the pitch joint of the robotic arm corresponding to the first preset angle" can also be implemented in the following manner:

[0307] Determine the minimum difference between the second target angle of the target joint and the limit angle of the target joint; determine the first movement range according to the minimum difference; wherein, when the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint; when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint.

[0308] In an exemplary embodiment, optionally, the above method for positioning the surgical robot further includes the following steps:

[0309] Determine the collision risk according to the second target angles of the joints corresponding to the first workspace and the pose of the adjacent already-positioned robotic arm; determine the second target angles of the joints corresponding to the first workspace with the minimum collision risk as the first target angles.

[0310] In an exemplary embodiment, optionally, the above S1103 can also be implemented in the following manner:

[0311] Control the robotic arm to perform positioning according to the first target angles of the joints corresponding to the first workspace and the current angles of the joints in the robotic arm.

[0312] In an exemplary embodiment, optionally, the above S1101 can be implemented in the following manner:

[0313] Determine the first simulation model corresponding to the lesion area; according to the distance between the centroid point of the trocar and the lesion area and the size information of the first simulation model, determine the preset workspace; the preset workspace includes the movement range of the end of the robotic arm when the yaw joint and the pitch joint in the robotic arm are in the corresponding preset movement ranges.

[0314] In an exemplary embodiment, optionally, the above "determine the preset workspace according to the distance between the telecentric point of the punch card and the lesion area and the size information of the first simulation model" can be implemented in the following manner:

[0315] Determine the target ratio between the target axis length of the ellipsoid in the target direction and the distance; determine the second movement range according to the arctangent function of the target ratio; wherein, the target direction includes the first direction and the second direction; when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset movement range of the yaw joint; when the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset movement range of the pitch joint.

[0316] In an exemplary embodiment, optionally, after the surgical robot's positioning method controls the positioning of the robotic arm according to the first target angles of the joints of the robotic arm corresponding to the first workspace, the method further includes the following steps:

[0317] Determine the second simulation model of the lesion area, and update the preset workspace according to the second simulation model.

[0318] In an exemplary embodiment, optionally, the second simulation model is a sphere; the above "determine the second simulation model of the lesion area, and update the preset workspace according to the second simulation model" can also be implemented in the following manner:

[0319] Determine the diameter of the second simulation model according to the first position information of the telecentric point of the punch card in the first robotic arm and the second position information of the telecentric point of the punch card in the second robotic arm; the first robotic arm and the second robotic arm are the robotic arms for intraoperative operation; update the preset workspace according to the diameter.

[0320] In an exemplary embodiment, optionally, the above "update the preset workspace according to the diameter" can also be implemented in the following manner:

[0321] Determine the first ratio between half of the diameter and the distance, and update the preset movement range of the yaw joint according to the arctangent function of the first ratio; determine the second ratio between the diameter and the distance, and update the preset movement range of the pitch joint according to the arctangent function of the second ratio.

[0322] In an exemplary embodiment, optionally, the above surgical robot's positioning method further includes the following steps:

[0323] Obtain the current angles of the joints in the robotic arm, and calculate the first target pose through the forward kinematics of the robotic arm.

[0324] In an exemplary embodiment, optionally, the method for positioning the surgical robot further includes the following steps:

[0325] When the lesion area is at the center of the field of view of the endoscope, based on the current angles of the joints in the instrument arm, determine the third position information of the centroid point of the trocar in the suspension plate coordinate system and the fourth position information of the lesion area; the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot; based on the third position information and the fourth position information, determine the first target pose of the instrument arm; the first target pose is the pose information in which the third position information of the centroid point of the trocar remains unchanged and the axis direction of the trocar points to the lesion area.

[0326] In an exemplary embodiment, optionally, the above-mentioned "determine the first target pose of the instrument arm based on the third position information and the fourth position information" can be implemented in the following manner:

[0327] Determine the target attitude information based on the third position information and the fourth position information; based on the third position information and the target attitude information, determine the first target pose of the instrument arm.

[0328] In an exemplary embodiment, optionally, the above-mentioned "determine the target attitude information based on the third position information and the fourth position information" can be implemented in the following manner:

[0329] Based on the third position information and the fourth position information, determine the first direction vector pointing from the centroid point of the trocar to the lesion area; determine the second direction vector and the third direction vector orthogonal to the first direction vector; based on the first direction vector, the second direction vector and the third direction vector, determine the target attitude information.

[0330] In an exemplary embodiment, optionally, the above-mentioned "based on the current angles of the joints in the instrument arm, determine the third position information of the centroid point of the trocar in the suspension plate coordinate system and the fourth position information of the lesion area" can be implemented in the following manner:

[0331] Obtain the current angles of the joints in the instrument arm, and calculate the third position information of the centroid point of the trocar in the suspension plate coordinate system through the forward kinematics of the instrument arm.

[0332] In an exemplary embodiment, optionally, the above-mentioned "based on the current angles of the joints in the instrument arm, determine the third position information of the centroid point of the trocar in the suspension plate coordinate system and the fourth position information of the lesion area" can be implemented in the following manner:

[0333] Obtain the current angles of the joints in the endoscope holding arm, calculate the fifth position information of the end of the endoscope in the suspension plate coordinate system through the forward kinematics of the endoscope holding arm; determine the fourth position information based on the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system.

[0334] In an exemplary embodiment, optionally, the method for positioning the surgical robot further includes the following steps:

[0335] Position the instrument arm according to the first target pose.

[0336] In an exemplary embodiment, optionally, the above-mentioned "position the instrument arm according to the first target pose" can be implemented in the following manner:

[0337] Perform inverse kinematic solution for the instrument arm according to the first target pose. When there is an inverse solution in the inverse kinematic solution, determine the target angles of the joints in the instrument arm; based on the current angles and target angles of the joints in the instrument arm, determine the first motion trajectory of the instrument arm; control the instrument arm to perform positioning according to the first motion trajectory.

[0338] In an exemplary embodiment, optionally, the method for positioning the surgical robot further includes the following steps:

[0339] In response to the input operation, determine the surgical site to be operated on by the surgical robot and the installation and positioning mode of the surgical robot; in response to the enable signal, position the surgical robot according to the surgical site and the installation and positioning mode.

[0340] To more clearly introduce the method for positioning the surgical robot in the embodiments of the present application, hereby in combination with Figures 12 to 14 for illustration.

[0341] Figure 12 is a schematic flowchart of a positioning process in an embodiment of the present application. As shown in Figure 12 shown, as shown in Figure 12 shown, the process of this method can be as follows:

[0342] S1201, select the surgical site and the installation and positioning mode to complete the first positioning stage. That is to say, in the first positioning stage, the surgical robot will be positioned according to the surgical site and the installation and positioning mode to move the surgical robot to a more reasonable position in space.

[0343] S1202, dock the instrument arm with the trocar and dock the endoscope arm with the endoscope, and move the endoscope to align with the lesion area.

[0344] S1203, calculate the third position information and the fourth position information.

[0345] S1204. Calculate the first target pose and complete the second positioning stage according to the first target pose. That is to say, in the second positioning stage, the third position information of the telecentric point of the puncture card is determined to be unchanged, and the first pose information that the axis direction of the puncture card points to the lesion area is determined. Then, the manipulator arm is positioned according to the first target pose, so that when the telecentric point of the puncture card corresponding to the manipulator arm remains stationary, the axis direction of the puncture card can be aligned with the lesion area.

[0346] S1205. Determine the preset working space.

[0347] S1206. Determine the first target angle corresponding to the first working space that is larger than the preset working space and has the minimum collision risk.

[0348] S1207. Complete the third positioning stage according to the first target angle. That is to say, in the third positioning stage, the preset working space at the end of the manipulator arm in the surgical robot is determined, and the first working space is determined according to multiple first preset angles of the redundant joints in the manipulator arm of the surgical robot. Then, the manipulator arm is positioned according to the first target angles of the respective joints of the manipulator arm corresponding to the first working space, so that when the first target pose remains unchanged, the instrument connected to the manipulator arm can smoothly operate on the lesion area.

[0349] Figure 13 This is one of the process diagrams of the positioning method of the surgical robot in the embodiment of the present application. Figure 14 This is the second process diagram of the positioning method of the surgical robot in the embodiment of the present application. In an exemplary embodiment, as Figure 13 and Figure 14 shown, the above-mentioned positioning method of the surgical robot includes S1301 to S1326.

[0350] First, in the preoperative stage, enter the first positioning stage and execute S1301~S1302.

[0351] S1301. In response to the input operation, determine the surgical site to be operated by the surgical robot and the installation and positioning mode of the surgical robot.

[0352] S1302. In response to the enable signal, position the surgical robot according to the surgical site and the installation and positioning mode.

[0353] Furthermore, after the first positioning stage, in the preoperative stage, enter the second positioning stage and execute S1303~S1312.

[0354] S1303. When the lesion area is at the center of the field of view of the endoscope, obtain the current angles of the respective joints in the manipulator arm, and calculate the third position information of the telecentric point of the puncture card in the suspension disk coordinate system through the forward kinematics of the manipulator arm.

[0355] S1304. When the lesion area is at the center of the endoscopic field of view, obtain the current angles of the joints in the endoscope-holding arm, and calculate the fifth position information of the end of the endoscope in the suspension plate coordinate system through the forward movement of the endoscope-holding arm.

[0356] S1305. Determine the fourth position information based on the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system.

[0357] S1306. Determine the first direction vector pointing from the distal center point of the trocar to the lesion area based on the third position information and the fourth position information.

[0358] S1307. Determine the second direction vector and the third direction vector orthogonal to the first direction vector.

[0359] S1308. Determine the target pose information based on the first direction vector, the second direction vector, and the third direction vector. Among them, the first target pose is the pose information with the third position information of the distal center point of the trocar unchanged and the axis direction of the trocar pointing to the lesion area.

[0360] S1309. Determine the first target pose of the instrument-holding arm based on the third position information and the target pose information.

[0361] S1310. Perform inverse kinematics solution for the instrument-holding arm according to the first target pose. When there is an inverse solution in the inverse kinematics solution, determine the target angles of the joints in the instrument-holding arm.

[0362] S1311. Determine the first motion trajectory of the instrument-holding arm based on the current angles and the target angles of the joints in the instrument-holding arm.

[0363] S1312. Control the instrument-holding arm to perform positioning according to the first motion trajectory.

[0364] After that, after the second positioning stage, enter the third positioning stage before or during the operation, and execute S1313~S1326.

[0365] S1313. Determine the first simulation model corresponding to the lesion area.

[0366] S1314. Determine the target ratio between the target axis length and the distance of the ellipsoid in the target direction.

[0367] S1315. Determine the second motion range according to the arctangent function of the target ratio. Among them, when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset motion range of the yaw joint; when the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset motion range of the pitch joint.

[0368] S1316. Determine a preset working space according to the preset movement ranges of the yaw joint and the pitch joint. It can be understood that the preset working space includes the movement range of the end of the robotic arm when the yaw joint and the pitch joint in the robotic arm are in the corresponding preset movement ranges.

[0369] S1317. For each first preset angle, perform inverse kinematics solution based on the first target pose and the first preset angle to determine the second target angles of the joints in the robotic arm.

[0370] S1318. According to the second target angle of the yaw joint and the limit angle of the yaw joint, determine the minimum difference between the second target angle of the target joint and the limit angle of the target joint.

[0371] S1319. Determine the first movement range according to the minimum difference. When the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint; when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint.

[0372] S1320. Determine the first working space according to the maximum movement ranges of the yaw joint and the pitch joint corresponding to the first preset angle and the preset working space. Among them, the first working space is larger than the preset working space.

[0373] S1321. Determine the collision risk according to the second target angles of the joints corresponding to the first working space and the pose of the adjacent already positioned robotic arm.

[0374] S1322. Determine the second target angles of the joints corresponding to the first working space with the minimum collision risk as the first target angles.

[0375] S1323. Control the robotic arm to perform positioning according to the first target angles of the joints corresponding to the first working space and the current angles of the joints in the robotic arm.

[0376] In the third positioning stage, if a collision is about to occur between the robotic arms, or, then S1324~S1326 can be executed.

[0377] S1324. Obtain the current angles of the joints in the robotic arm and calculate the first target pose through the forward movement of the robotic arm.

[0378] S1325. Determine the diameter of the second simulation model according to the first position information of the center of rotation of the punch card in the first robotic arm and the second position information of the center of rotation of the punch card in the second robotic arm. Among them, the first robotic arm and the second robotic arm are the robotic arms for intraoperative operation.

[0379] S1326. Update the preset working space according to the diameter. Specifically, the first ratio between half of the diameter and the distance can be determined, and the preset motion range of the yaw joint can be updated according to the arctangent function of the first ratio. Also, the second ratio between the diameter and the distance can be determined, and the preset motion range of the pitch joint can be updated according to the arctangent function of the second ratio. After S1326, return to execute step S1317.

[0380] It should be understood that there is no strict order restriction for the execution of the various steps involved in the above-described embodiments. These steps can be executed in other orders. Moreover, at least a part of the steps involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily need to be executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0381] Figure 15 The following is the internal structure diagram of the computer device in the embodiment of the present application. In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 15 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a method for positioning a surgical robot.

[0382] Those skilled in the art can understand that Figure 15 the structure shown in [the figure] is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0383] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0384] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0385] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0386] In one embodiment, a surgical robot system is further provided. The surgical robot system includes the positioning system of the surgical robot according to any one of the above.

[0387] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0388] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0389] The above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A positioning system for a surgical robot, characterized in that, The system includes: A first determination module, configured to determine a preset working space at the end of the instrument arm in the surgical robot, where the preset working space is the minimum space that enables the instrument connected to the instrument arm to operate on the lesion area; A second determination module, configured to determine a first working space at the end of the instrument arm when the first target pose of the trocar in the instrument arm of the surgical robot remains unchanged according to a plurality of first preset angles of redundant joints in the instrument arm, and the first working space is larger than the preset working space; A first positioning module, configured to control the positioning of the instrument arm according to the first target angles of the respective joints of the instrument arm corresponding to the first working space.

2. The system according to claim 1, characterized in that, The instrument arm includes a yaw joint and a pitch joint, and the first working space includes the movement range of the end of the instrument arm when the yaw joint and the pitch joint are in their corresponding maximum movement ranges.

3. The system according to claim 2, wherein The second determination module is further configured to: Determine a first vector and a second vector according to the position information of the centroid point of the trocar and the position information of the instrument, and use the first included angle between the first vector and the second vector as the maximum movement range of the yaw joint; the first vector is the vector where the centroid point and the instrument are located when the yaw joint is at the corresponding upper limit value, and the second vector is the vector where the centroid point and the instrument are located when the yaw joint is at the corresponding lower limit value; Determine a third vector and a fourth vector according to the position information of the centroid point of the trocar and the position information of the instrument, and use the second included angle between the third vector and the fourth vector as the maximum movement range of the pitch joint; the third vector is the vector where the centroid point and the instrument are located when the pitch joint is at the corresponding upper limit value, and the fourth vector is the vector where the centroid point and the instrument are located when the pitch joint is at the corresponding lower limit value.

4. The system according to claim 2, wherein The second determination module includes: A first determination unit, configured to perform inverse kinematics solution based on the first target pose and the first preset angle for each of the first preset angles to determine the second target angles of the respective joints in the instrument arm; A second determination unit, configured to determine the maximum movement range of the yaw joint of the instrument arm corresponding to the first preset angle according to the second target angle of the yaw joint and the limit angle of the yaw joint, and determine the maximum movement range of the pitch joint of the instrument arm corresponding to the first preset angle according to the second target angle of the pitch joint and the limit angle of the pitch joint.

5. The system according to claim 4, wherein The second determination unit is further configured to: Determine the minimum difference between the second target angle of the target joint and the limit angle of the target joint; Determine the first movement range according to the minimum difference; Wherein, when the target joint is the yaw joint, the first movement range is the maximum movement range of the yaw joint; when the target joint is the pitch joint, the first movement range is the maximum movement range of the pitch joint.

6. The system according to any one of claims 1-5, characterized in that, The system further includes: A third determination module, configured to determine a collision risk according to the second target angles of the joints corresponding to the first workspace and the poses of adjacent positioned robotic arms. A fourth determination module, configured to determine the second target angles of the joints corresponding to the first workspace with the minimum collision risk as the first target angles.

7. The system according to any one of claims 1-5, characterized in that, The first positioning module is further configured to: Control the robotic arm to perform positioning according to the first target angles of the joints corresponding to the first workspace and the current angles of the joints in the instrument holding arm.

8. The system according to any one of claims 1-5, characterized in that, The first determination module includes: A third determination unit, configured to determine a first simulation model corresponding to the lesion area. A fourth determination unit, configured to determine the preset workspace according to the distance between the remote center point of the trocar and the lesion area and the size information of the first simulation model; the preset workspace includes the movement range of the end of the robotic arm when the yaw joint and the pitch joint in the robotic arm are in corresponding preset movement ranges.

9. The system according to claim 8, wherein The first simulation model is an ellipsoid; the fourth determination unit is further configured to: Determine a target ratio between the target axis length of the ellipsoid in the target direction and the distance. Determine a second movement range according to the arctangent function of the target ratio. Wherein, the target direction includes a first direction and a second direction; when the target direction is the first direction, the target axis length is half of the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset movement range of the yaw joint. When the target direction is the second direction, the target axis length is the axis length of the ellipsoid in the second direction, and the target angle threshold is the preset movement range of the pitch joint.

10. The system according to claim 8, wherein After controlling the robotic arm to perform positioning according to the first target angles of the joints of the robotic arm corresponding to the first workspace, the system further includes: A fifth determination module, configured to determine a second simulation model of the lesion area and update the preset workspace according to the second simulation model.

11. The system according to claim 10, wherein, The second simulation model is a sphere; the fifth determination module further includes: A fifth determination unit, configured to determine the diameter of the second simulation model according to the first position information of the remote center point of the trocar in the first robotic arm and the second position information of the remote center point of the trocar in the second robotic arm; the first robotic arm and the second robotic arm are the robotic arms for intraoperative operation. A sixth determination unit, configured to update the preset workspace according to the diameter.

12. The system according to claim 11, wherein, The sixth determination unit is further configured to: Determine a first ratio between half of the diameter and the distance, and update the preset movement range of the yaw joint according to the arctangent function of the first ratio. Determine a second ratio between the diameter and the distance, and update the preset movement range of the pitch joint according to the arctangent function of the second ratio.

13. The system according to claim 11, wherein, The system further includes: A sixth determination module, configured to obtain the current angles of the joints in the robotic arm and calculate the first target pose through the forward kinematics of the robotic arm.

14. The system according to any one of claims 1-5, characterized in that, The system further includes: A seventh determination module, configured to, when the lesion area is located at the center of the field of view of the endoscope, determine third position information of the centroid of the trocar and fourth position information of the lesion area in the suspension plate coordinate system according to the current angles of the joints in the instrument arm; the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot; An eighth determination module, configured to determine a first target pose of the instrument arm according to the third position information and the fourth position information; the first target pose is pose information in which the third position information of the centroid of the trocar remains unchanged and the axis direction of the trocar points to the lesion area.

15. The system according to claim 14, wherein The eighth determination module includes: A seventh determination unit, configured to determine target attitude information according to the third position information and the fourth position information; An eighth determination unit, configured to determine a first target pose of the instrument arm according to the third position information and the target attitude information.

16. The system according to claim 15, wherein, The seventh determination unit is further configured to: Determine a first direction vector pointing from the centroid of the trocar to the lesion area according to the third position information and the fourth position information; Determine a second direction vector and a third direction vector orthogonal to the first direction vector; Determine the target attitude information according to the first direction vector, the second direction vector, and the third direction vector.

17. The system according to claim 14, wherein The seventh determination module is further configured to: Obtain the current angles of the joints in the instrument arm, and calculate the third position information of the centroid of the trocar in the suspension plate coordinate system through forward kinematics of the instrument arm.

18. The system according to claim 14, wherein The seventh determination module is further configured to: Obtain the current angles of the joints in the endoscope holding arm, calculate fifth position information of the end of the endoscope in the suspension plate coordinate system through forward kinematics of the endoscope holding arm; Determine the fourth position information according to the fifth position information and sixth position information of the lesion area in the endoscope coordinate system.

19. The system according to claim 14, characterized in that, The system further includes: A second positioning module, configured to position the instrument arm according to the first target pose.

20. The system according to claim 19, wherein The second positioning module is further configured to: Perform inverse kinematics solution on the instrument arm according to the first target pose, and determine target angles of the joints in the instrument arm when there is an inverse solution in the inverse kinematics solution; Determine a first motion trajectory of the instrument arm based on the current angles and target angles of the joints in the instrument arm; Control the instrument arm to be positioned according to the first motion trajectory.

21. The system according to claim 14, characterized in that, The system further includes: An eighth determination module, configured to, in response to an input operation, determine a surgical site to be operated by the surgical robot and an installation and positioning mode of the surgical robot; A third positioning module, configured to, in response to an enable signal, position the surgical robot according to the surgical site and the installation and positioning mode.

22. A positioning method for a surgical robot, characterized in that, The method includes: Determine a preset working space at the end of the instrument arm in the surgical robot, where the preset working space is the smallest space that enables the instrument connected to the instrument arm to operate on the lesion area; Determine the first workspace of the end of the instrument arm when the first target pose of the trocar of the instrument arm remains unchanged according to multiple first preset angles of redundant joints in the instrument arm of the surgical robot, and the first workspace is larger than the preset workspace; Control the instrument arm to be positioned according to the first target angles of the joints of the instrument arm corresponding to the first workspace.

23. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method described in claim 22 are implemented.

24. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method described in claim 22 are implemented.

25. A surgical robot system, characterized in that, The surgical robot system includes the positioning system of the surgical robot according to any one of claims 1-21.

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