Positioning system, method and surgical robot system for a surgical robot

Abstract

The application relates to a positioning system and method of a surgical robot and a surgical robot system. The system comprises: a first determining module configured to determine a preset working space of an end of an instrument holding arm in the surgical robot, the preset working space being a minimum space in which an instrument connected to the instrument holding arm can operate on a lesion area; a second determining module configured to determine, according to a plurality of first preset angles of redundant joints in the instrument holding arm of the surgical robot, a first working space of the end of the instrument holding arm when a first target pose of a trocar of the instrument holding arm is unchanged, the first working space being larger than the preset working space; and a first positioning module configured to control the instrument holding arm to be positioned according to first target angles of each joint of the instrument holding arm corresponding to the first working space. The system can reduce the dependence on doctors and reduce the positioning time.

Description

[0001] This invention patent application is a divisional application of Chinese invention patent application filed on January 8, 2024, with application number 2024100229067 and titled "Positioning System, Method and Surgical Robot System for Surgical Robot". Technical Field

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

[0003] With advancements in robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. Before surgery, the surgical robot needs to be positioned correctly to ensure sufficient surgical space and prevent collisions between its robotic arms. Currently, the positioning process requires doctors to manually complete the task by reading the instruction manual, which relies heavily on the doctor's experience and is also time-consuming. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot placement system, method, and surgical robot system that can reduce reliance on doctors and reduce placement time, in order to address the aforementioned technical problems.

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

[0006] The first determining module is used to determine the preset working space of the end of the surgical arm in the surgical robot. The preset working space is the minimum space that enables the instrument connected to the surgical arm to operate on the lesion area.

[0007] The second determining module is used to determine, based on multiple first preset angles of redundant joints in the surgical robot arm, the first working space at the end of the arm when the first target pose of the card in the arm remains unchanged, and the first working space is greater than the preset working space.

[0008] The first positioning module is used to control the positioning of the robotic arm according to the first target angle of each joint of the robotic arm corresponding to the first workspace.

[0009] In one embodiment, the robotic arm includes a yaw joint and a pitch joint, and the first workspace includes the range of motion of the end effector of the robotic arm when the yaw joint and the pitch joint are at their respective maximum range of motion.

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

[0011] The first determining unit is used to perform inverse kinematics solution based on the first target pose and the first preset angle for each first preset angle, and determine the second target angle of each joint in the holding arm.

[0012] The second determining unit is used to determine the maximum range of motion of the swing joint of the holding arm corresponding to the first preset angle based on the second target angle of the swing joint and the limiting angle of the swing joint, and to determine the maximum range of motion of the pitch joint of the holding arm corresponding to the first preset angle based on the second target angle of the pitch joint and the limiting angle of the pitch joint.

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

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

[0015] The first range of motion is determined based on the minimum difference.

[0016] Specifically, when the target joint is a lateral joint, the first range of motion is the maximum range of motion of the lateral joint; when the target joint is a pitch joint, the first range of motion is the maximum range of motion of the pitch joint.

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

[0018] The third determination module is used to determine the collision risk based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms.

[0019] The fourth determining module is used to determine the second target angle of each joint corresponding to the first workspace with the lowest collision risk as the first target angle.

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

[0021] Based on the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the robotic arm, the robotic arm is controlled to be positioned.

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

[0023] The third determining unit is used to determine the first simulation model corresponding to the lesion area;

[0024] The fourth determining unit is used to determine the preset workspace based on the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model; the preset workspace includes the range of motion of the end of the holding arm when the lateral joint and the pitch joint in the holding arm are in the corresponding preset range of motion.

[0025] In one embodiment, the first simulation model is an ellipsoid; the fourth determining 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] The second motion range is determined based on the arctangent function of the target ratio;

[0028] 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 the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset range of motion 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 range of motion of the pitch joint.

[0030] In one embodiment, after controlling the positioning of the manipulator arm according to the first target angle of each joint of the manipulator arm corresponding to the first workspace, the system further includes:

[0031] The fifth determination module is used to determine the second simulation model of the lesion area and update the preset workspace based on the second simulation model.

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

[0033] The fifth determining unit is used to determine the diameter of the second simulation model based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm; the first holding arm and the second holding arm are the holding arms for intraoperative operation;

[0034] The sixth determining unit is used to update the preset workspace based on the diameter.

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

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

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

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

[0039] The sixth determination module is used to obtain the current angle of each joint in the robotic arm and calculate the first target pose through the positive motion of the robotic arm.

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

[0041] The seventh determination module is used to determine the third position information of the distal point of the puncture card and the fourth position information of the lesion area in the suspension plate coordinate system, based on the current angle of each joint in the surgical arm, when the lesion area is located in the center of the endoscope's field of view; the suspension plate coordinate system is based on the position determination of the suspension plate of the surgical robot.

[0042] The eighth determining module is used to determine the first target pose of the holding arm based on the third position information and the fourth position information; the first target pose is the pose information where the third position information of the distal point of the puncture card remains unchanged and the axial direction of the puncture card points to the lesion area.

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

[0044] The seventh determining unit is used to determine the target attitude information based on the third and fourth position information;

[0045] The eighth determining unit is used to determine the first target pose of the robotic arm based on the third position information and the target pose information.

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

[0047] Based on the third and fourth position information, determine the first direction vector pointing from the centroid of the card to the lesion area;

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

[0049] The target attitude information is determined based on the first direction vector, the second direction vector, and the third direction vector.

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

[0051] The current angles of each joint in the robotic arm are obtained, and the third position information of the centroid of the card in the suspension plate coordinate system is calculated through the positive motion of the robotic arm.

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

[0053] Obtain the current angle of each joint in the endoscope arm, and calculate the fifth position information of the endoscope tip in the suspension plate coordinate system through the positive motion of the endoscope arm;

[0054] The fourth position information is determined based on the fifth position information and the sixth position information of the lesion area in the endoscopic coordinate system.

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

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

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

[0058] Based on the first target pose, the inverse kinematics of the holding arm is calculated. If there is an inverse solution in the inverse kinematics calculation, the target angle of each joint in the holding arm is determined.

[0059] Based on the current angle and target angle of each joint in the robotic arm, the first motion trajectory of the robotic arm is determined;

[0060] The robotic arm is positioned 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 on by the surgical robot and the installation and positioning mode of the surgical robot in response to the input operation;

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

[0064] Secondly, this application also provides a method for positioning a surgical robot, including:

[0065] Determine the preset workspace at the end of the surgical arm in the surgical robot. The preset workspace is the minimum space that allows the instruments connected to the surgical arm to operate on the lesion area.

[0066] Based on multiple first preset angles of redundant joints in the surgical robot's holding arm, a first working space at the end of the holding arm is determined when the first target pose of the card in the holding arm remains unchanged. The first working space is greater than the preset working space.

[0067] The positioning of the robotic arm is controlled by the first target angle of each joint of the robotic arm corresponding to the first workspace.

[0068] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above methods.

[0069] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods.

[0070] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0071] Sixthly, this application also provides a surgical robot system, including the positioning system of the surgical robot of any of the above claims.

[0072] The aforementioned surgical robot positioning system, method, and surgical robot system, since the preset workspace is the minimum space required for instruments connected to the surgical arm to operate on the lesion area, and the first workspace is larger than the preset workspace, determine the preset workspace of the end effector of the surgical arm in the surgical robot. Based on multiple first preset angles of the redundant joints in the surgical arm, determine the first workspace of the end effector of the surgical arm when the first target pose of the trocar remains unchanged. Then, after controlling the positioning of the surgical arm according to the first target angles of each joint corresponding to the first workspace, on the one hand, the actual workspace of the end effector of the surgical arm is larger than the preset workspace, so the instruments connected to the surgical arm can smoothly operate on the lesion area to meet the surgical requirements. On the other hand, the first target pose of the surgical arm remains unchanged during positioning, reducing the impact on the target object during positioning. The above-mentioned surgical arm positioning process does not rely on the doctor's experience, thus reducing dependence on the doctor, reducing positioning time, and improving the accuracy and efficiency of positioning. Attached Figure Description

[0073] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 This is a diagram illustrating the application environment of the surgical robot positioning method in the embodiments of this application;

[0075] Figure 2 This is a schematic diagram of the positioning system of a surgical robot according to this application;

[0076] Figure 3 This is a schematic diagram of a telecentric mechanism in an embodiment of this application;

[0077] Figure 4 This is a schematic diagram of a first simulation model in an embodiment of this application;

[0078] Figure 5 This is a schematic diagram of a second simulation model in an embodiment of this application;

[0079] Figure 6 This is a schematic diagram of a coordinate system in an embodiment of this application;

[0080] Figure 7 This is a schematic diagram of an interactive interface in an embodiment of this application;

[0081] Figure 8 This is a schematic diagram of a right-facing placement pattern in an embodiment of this application;

[0082] Figure 9 This is a schematic diagram of a left-facing placement pattern in an embodiment of this application;

[0083] Figure 10 This is a schematic diagram of a facing orientation arrangement in an embodiment of this application;

[0084] Figure 11 This is a flowchart illustrating the positioning method of the surgical robot in an embodiment of this application;

[0085] Figure 12 This is a schematic diagram of a placement process in an embodiment of this application;

[0086] Figure 13 This is one of the schematic diagrams illustrating the surgical robot positioning method in the embodiments of this application;

[0087] Figure 14 This is a second schematic diagram illustrating the process of positioning the surgical robot in an embodiment of this application;

[0088] Figure 15 This is a diagram showing the internal structure of a computer device in an embodiment of this application. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0090] Figure 1 This is an application environment diagram of the surgical robot positioning method in the embodiments of this application, such as... Figure 1 As shown, computer device 101 is capable of communicating with surgical robot 102. Surgical robot 102 is capable of performing surgery on target object 104 on operating table 103. Target object 104 lies on table 1031, and the lesion area 1041 and the port 1042 can be determined on target object 104.

[0091] The surgical robot 102 includes a surgical cart, which comprises a cart mechanism 1021 and robotic arms 1022. The cart mechanism 1021 includes a cart base 1021a, a cart arm 1021b, and a suspension plate 1021c. The cart base 1021a is a fixed base within the surgical cart. The cart arm 1021b is connected to the cart base 1021a, and during movement, the cart arm 1021b can drive the suspension plate 1021c to move, thereby moving the robotic arms 1022 connected to the suspension plate 1021c. The surgical cart may include multiple robotic arms 1022, each 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, including active joints, which are joints capable of active movement according to signals from 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 functionally divided into robotic arms and endoscope arms. The robotic arms connect the trocar and surgical instruments; that is, after connecting the trocar, the surgical instruments are mounted on the robotic arm and extend into the patient's body through the trocar. The distal point of the trocar is the contact point between the trocar and the patient's body surface. The endoscope arms connect the endoscope. The trocar can also be referred to as a cannula.

[0094] This embodiment does not limit the number of robotic arms. Taking laparoscopic surgery as an example, the surgical robot includes at least one robotic arm and one endoscope arm. Figure 1 Taking the four robotic arms as an example, from left to right they are robotic arm 1, robotic arm 2, robotic arm 3 and robotic arm 4. Robotic arm 2 can be a lens holding arm, and the other three robotic arms can be mechanical holding arms.

[0095] In some embodiments, computer device 101 may be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. Portable wearable devices may be smartwatches, smart bracelets, head-mounted devices, etc. Computer device 101 may also be implemented using a standalone server or a server cluster consisting of multiple servers.

[0096] In some embodiments, the computer device 101 may 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 visual cart, which are communicatively connected to the operating table. The doctor controls the operating table via the doctor's console to perform surgery on the patient. The visual cart is used to provide feedback on images during the surgical process.

[0098] Figure 2 This is a schematic diagram of the positioning system of a surgical robot according to this application, as shown below. Figure 2 As shown, in an exemplary embodiment, a surgical robot positioning system 200 is provided, including a first determining module 201, a second determining module 202, and a first positioning module 203. Wherein:

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

[0100] Since the surgical robot needs to use a robotic arm to perform surgery on the lesion area during the actual operation, it is necessary to position the robotic arm in a way that allows the end of the robotic arm to operate on the lesion area. Therefore, in this embodiment, it is first necessary to determine the preset working space of the end of the robotic arm of the surgical robot.

[0101] Understandably, the end of the surgical arm serves as a trocar before surgery and as an instrument during surgery. Furthermore, the pre-defined workspace is the minimum space required for the instrument connected to the surgical arm to operate on the lesion area.

[0102] Optionally, the first determining module 201 can receive a preset workspace sent by other devices. The first determining module 201 can also plan according to the location of the lesion area to determine the preset workspace at the end of the robotic arm; this embodiment does not impose any limitations. It should be noted that the preset workspace corresponding to the end of each robotic arm may be different.

[0103] The second determining module 202 is used to determine, based on multiple first preset angles of redundant joints in the surgical robot holding arm, the first working space of the end of the holding arm when the first target pose of the puncture card of the holding arm remains unchanged, and the first working space is greater than the preset working space.

[0104] In this embodiment, the workspace refers to the set of positions that the end effector of the surgical arm can reach in the current posture. The workspace corresponding to the end effector of the surgical arm varies depending on the angle of each joint. Therefore, in order for the surgical instruments to operate on the lesion area during surgery, the actual workspace of the end effector of the surgical arm needs to be larger than the preset workspace.

[0105] Furthermore, since the trocar in the surgical arm needs to be connected to surgical instruments, in order to minimize the impact on the target object during the positioning of the surgical arm, the first target pose of the trocar needs to remain unchanged during the positioning process. The first target pose is the pose of the distal point of the trocar in the surgical arm. The first target pose can be the pose determined after the surgical arm has been positioned preoperatively, or it can be the pose currently obtained from the pose sensor; this embodiment does not impose any limitations.

[0106] Therefore, in this embodiment, a first working space at the end of the robotic arm is determined when the first target pose of the card remains unchanged, and this first working space is larger than a preset working space. It can be understood that the first working space being larger than the preset working space could mean that the preset working space is within the coverage area of ​​the first working space.

[0107] Furthermore, the second determining module 202 determines the first workspace based on multiple first preset angles of the redundant joints in the surgical robot's robotic arm.

[0108] Redundant joints are used to indicate redundant degrees of freedom in a surgical robot. A redundant joint can be a joint in the robotic arm used to adjust the position of the robotic arm. For example, assuming the robotic arm includes joints 1 to 4, joint 1 can be considered a redundant joint of the robotic arm.

[0109] Optionally, the second determining module 202 can perform inverse kinematics calculation based on the first target pose and the first preset angle to determine the target angles of the other joints in the manipulator arm, excluding the redundant joints, when the redundant joints are at the first preset angle. It then determines whether the workspace corresponding to the first preset angle is greater than a preset workspace based on the target angles of each joint, continuing until the workspace corresponding to the first preset angle is greater than the preset workspace, and then using the workspace greater than the preset workspace as the first workspace. Of course, the second determining module 202 can also determine the first workspace in other ways, and this embodiment is not limited to this.

[0110] Taking a robotic arm comprising joints 1 to 4, with joint 1 being a redundant joint, as an example, the second determining module 202, when joint 1 is at a first preset angle A, can perform inverse kinematics calculation 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. Then, based on the target angles of joints 2 to 4 at the first preset angle A, it determines the end-effector workspace 'a' of the robotic arm when joint 1 is at the first preset angle A and the first target pose remains unchanged.

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

[0112] It should be noted that the letters mentioned above are for illustrative purposes only and do not represent the actual number of first preset angles. The same applies below, and will not be repeated hereafter.

[0113] The first positioning module 203 is used to control the positioning of the robotic arm according to the first target angle of each joint of the robotic arm corresponding to the first workspace.

[0114] Furthermore, after determining the first working space at the end of the robotic arm, the robotic arm can be positioned according to the first target angle of each joint of the robotic arm corresponding to the first working space.

[0115] Optionally, the first positioning module 203 can send drive signals to each joint of the robotic arm according to the first target angle of each joint, so that each joint of the robotic arm moves to the first target angle, so that the working space of the end of the robotic arm is equal to the first working space while the first target pose remains unchanged. In this way, the trocar connected to the end of the robotic arm before the operation has sufficient surgical space, and then, during the operation, the instrument connected to the robotic arm can operate on the lesion area.

[0116] Continuing the example above, when workspace b is the first workspace, the first target angle includes the first preset angle B of joint 1 and the target angles of joints 2 to 4 at the first preset angle B. Therefore, the first positioning module 203 can control the robotic arm to position itself 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 aforementioned surgical robot positioning system, since the preset workspace is the minimum space required for the instruments connected to the robotic arm to operate on the lesion area, and the first workspace is larger than the preset workspace, the preset workspace of the end effector of the robotic arm in the surgical robot is determined. Based on multiple first preset angles of the redundant joints in the robotic arm, the first workspace of the end effector of the robotic arm is determined when the first target pose of the trocar remains unchanged. Then, after controlling the positioning of the robotic arm according to the first target angles of each joint corresponding to the first workspace, on the one hand, the actual workspace of the end effector of the robotic arm is larger than the preset workspace. This allows the instruments connected to the robotic arm to smoothly operate on the lesion area, meeting the surgical requirements. On the other hand, the first target pose of the robotic arm remains unchanged during positioning, reducing the impact on the target object. The above-mentioned robotic arm positioning process does not rely on the surgeon's experience, thus reducing dependence on the surgeon, reducing positioning time, and improving the accuracy and efficiency of positioning.

[0118] In one exemplary embodiment, optionally, the robotic arm includes a yaw joint and a pitch joint, and the first workspace includes the range of motion of the end effector of the robotic arm when the yaw joint and the pitch joint are at their respective maximum range of motion.

[0119] In this embodiment, since the trolley mechanism and adjustment mechanism usually remain stationary during the operation, the position of the end of the surgical instrument is affected by the telecentric mechanism. Figure 3 This is a schematic diagram of a telecentric mechanism in an embodiment of this application, as shown below. Figure 3 As shown, the distal mechanism may include a lateral joint, a pitching joint, and a telescoping joint. Considering that the telescoping joint does not affect the position of the distal point of the trocar, the position of the instrument's distal end during the procedure will be affected by the lateral and pitching joints.

[0120] In other words, when the yaw and pitch joints in the robotic arm move to different angles, the workspace at the end of the robotic arm will also be different. Therefore, in order to make the first workspace larger than the preset workspace, the first workspace at the end of the robotic arm includes the range of motion of the end of the robotic arm when the yaw and pitch joints are at their respective maximum ranges of motion.

[0121] The maximum range of motion of the yaw joint can be determined by its limiting angle, and the maximum range of motion of the pitch joint can be determined by its limiting angle. The limiting angle of the yaw joint indicates the maximum angle that the yaw joint can reach. Similarly, the limiting angle of the pitch joint indicates the maximum angle that the pitch joint can reach.

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

[0123] Since the length between the distal point of the chuck in the holding arm and the instrument remains constant, the maximum range of motion of the yaw and pitch joints can be determined by vector calculation.

[0124] Taking the swing joint as an example, based on the position information of the distal point of the chuck in the current holding arm and the position information of the device, the first vector between the distal point of the chuck and the device when the swing joint is at the corresponding upper limit value can be determined, and the second vector between the distal point of the chuck and the device when the swing joint is at the corresponding lower limit value can be determined. Furthermore, based on the first and second vectors, the first angle between the first and second vectors can be determined, and this first angle is taken as the maximum range of motion of the swing joint.

[0125] Taking the pitch joint as an example, similarly, based on the position information of the distal point of the stabbing device in the current holding arm and the position information of the device, the third vector between the distal point of the stabbing device and the device when the pitch joint is at the corresponding upper limit value can be determined, as well as the fourth vector between the distal point of the stabbing device and the device when the pitch joint is at the corresponding lower limit value. Furthermore, based on the third and fourth vectors, the second included angle between the third and fourth vectors can be determined, and this second included angle can be used as the maximum range of motion of the pitch joint.

[0126] The position information of the distal point of the puncture card in the current holding arm and the position information of the device can be obtained by the position sensor or determined by forward kinematics calculation. This embodiment does not impose any restrictions.

[0127] In this embodiment, the manipulator arm includes a yaw joint and a pitch joint, and the first working space of the manipulator arm's end effector includes the range of motion of the end effector when the yaw joint and pitch joint are at their respective maximum ranges of motion. Therefore, by utilizing the yaw joint and pitch joint in the manipulator arm, the first working space of the manipulator arm's end effector can be determined efficiently and accurately.

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

[0129] The first determining unit is used to perform inverse kinematics solution based on the first target pose and the first preset angle for each first preset angle, and to determine the second target angle of each joint in the holding arm.

[0130] In this embodiment, continuing the example above, the first determining 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 when the first preset angle A is reached.

[0131] The first determining 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 when the first preset angle B is reached. Similarly, when the redundant joints have different first preset angles, the first determining unit can determine the second target angle of each joint in the holding arm for each first preset angle.

[0132] The second determining unit is used to determine the maximum range of motion of the swing joint of the holding arm corresponding to the first preset angle based on the second target angle of the swing joint and the limiting angle of the swing joint, and to determine the maximum range of motion of the pitch joint of the holding arm corresponding to the first preset angle based on the second target angle of the pitch joint and the limiting angle of the pitch joint.

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

[0134] Furthermore, for each first preset angle, the maximum range of motion of the oscillating joint can be determined based on the second target angle and the limiting angle of the oscillating joint. Optionally, the maximum range of motion of the oscillating joint can be determined based on the difference between the second target angle and the limiting angle of the oscillating joint. For example, the difference between the second target angle and the limiting angle of the oscillating joint can be used as the maximum range of motion of the oscillating joint.

[0135] Continuing with the example above, the second target angle of the yaw joint is determined based on the second target angle 1. Then, the second target angle of the yaw joint can be determined. The maximum range of motion of the lateral joint is determined by the limiting angle of the lateral joint and the first preset angle A.

[0136] The second target angle of the yaw joint is determined based on the second target angle 2. Then, the second target angle of the yaw joint can be determined. By determining the limiting angle of the yaw joint, the maximum range of motion of the yaw joint at the first preset angle B is established, and so on. The maximum range of motion may differ when different first preset angles are set for redundant joints.

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

[0138] In the above embodiments, since the second target angle of each joint in the manipulator arm is determined by inverse kinematics solution based on the first target pose and the first preset angle for each first preset angle, the maximum range of motion of the yaw joint of the manipulator arm corresponding to the first preset angle is determined according to the second target angle of the yaw joint and the limiting angle of the yaw joint, and the maximum range of motion of the pitch joint of the manipulator arm corresponding to the first preset angle is determined according to the second target angle of the pitch joint and the limiting angle of the pitch joint. In this way, the first working space of the end effector of the manipulator arm is determined according to the maximum range of motion of the yaw joint and the pitch joint.

[0139] In an exemplary embodiment, optionally, the second determining unit is further configured to: determine the minimum difference between the second target angle of the target joint and the limiting angle of the target joint; determine the first range of motion based on the minimum difference; wherein, when the target joint is a yaw joint, the first range of motion is the maximum range of motion of the yaw joint; when the target joint is a pitch joint, the first range of motion is the maximum range of motion of the pitch joint.

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

[0141] When the redundant joint is at the first preset angle B, the second target angle of the yaw joint can be determined. The difference B1 between the upper limit value of the yaw joint's limiting angle and the second target angle of the yaw joint. The difference B2 between the lower limit value of the yaw joint's limiting angle and the lower limit value of the yaw joint's limiting angle. If the difference B1 is greater than the difference B2, then the difference B2 is determined as the minimum difference. Further, the maximum range of motion of the yaw joint at the first preset angle A can be determined based on the difference B2. By analogy, the maximum range of motion of the pitch joint can be determined for each first preset angle.

[0142] Similarly, for the pitch joint, for example, when the redundant joint is at a first preset angle A, a second target angle for the pitch joint can be determined. The difference A3 between the upper limit value of the pitch joint's limiting angle and the second target angle of the pitch joint. The difference A4 between the pitch joint's lower limit angle and the limit angle of the pitch joint. If the difference A3 is less than the difference A4, then the difference A3 is determined as the minimum difference. Further, the maximum range of motion of the pitch joint at the first preset angle A can be determined based on the difference A3. For example, the difference A3 can be used as the maximum range of motion of the pitch joint at the first preset angle A. Similarly, for each first preset angle, the corresponding maximum range of motion of the pitch joint is also determined.

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

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

[0145] The third determination module is used to determine the collision risk based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms.

[0146] In this embodiment, the robotic arm corresponds to different workspaces when the redundant joints are at different first preset angles. Since the redundant joints correspond to multiple first preset angles, the first workspace of the ends of the multiple robotic arms can be determined based on the multiple first preset angles of the redundant joints.

[0147] Optionally, the second determining module can perform inverse kinematics solution based on the first target pose and the first preset angle to determine the target angle of other joints in the holding arm other than the redundant joint 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 based on the target angle of each joint, so as to obtain multiple first workspaces.

[0148] For example, taking a first preset angle including a first preset angle A, a first preset angle B, and a first preset angle C as an example. When the redundant joint is the first preset angle A, the corresponding workspace a can be determined based on the first preset angle A and the first target pose. When the redundant joint is the first preset angle B, the corresponding workspace b can be determined based on the first preset angle A and the first target pose. When the redundant joint is the first preset angle C, the corresponding workspace c can be determined based on the first preset angle C and the first target pose.

[0149] If workspace a is smaller than the preset workspace, workspace b is larger than the preset workspace, and workspace c is larger than the preset workspace, then the first workspace can be determined to include workspace b and workspace c.

[0150] Furthermore, the third determining module can determine the collision risk based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms.

[0151] Collision risk can be represented numerically; the higher the number, the higher the collision risk. Adjacent positioned robotic arms can be understood as adjacent robotic arms with fixed current poses. For example, if robotic arm #3 needs to be positioned, then adjacent positioned robotic arms could include robotic arms #2 and #4.

[0152] Optionally, the third determining module can obtain the pose of the adjacent positioned robotic arms through a pose sensor, or it can calculate the pose of the adjacent positioned robotic arms through forward kinematics by using the current angle of each joint in the adjacent positioned robotic arms.

[0153] Optionally, the third determining module can simulate the movement trajectory of the robotic arm using the second target angles of each joint corresponding to the first workspace, and determine the collision risk based on the movement trajectory of the robotic arm and adjacent positioned robotic arms. Of course, collision risk can also be determined in other ways, and this embodiment is not limited to this.

[0154] Continuing the example above, the third determining module determines collision risk 1 based on the second target angle 2 corresponding to workspace b and the pose of the adjacent positioned robotic arm, and determines collision risk 2 based on the second target angle 3 corresponding to workspace c and the pose of the adjacent positioned robotic arm. Collision risk 1 represents the risk of collision with the adjacent positioned robotic arm when the end effector of the holding arm is positioned to the state corresponding to workspace b. Collision risk 2 represents the risk of collision with the adjacent positioned robotic arm when the end effector of the holding arm is positioned to the state corresponding to workspace c.

[0155] The fourth determining module is used to determine the second target angle of each joint corresponding to the first workspace with the lowest collision risk as the first target angle.

[0156] Furthermore, the third determining module can identify the first workspace with the lowest collision risk. Continuing the example above, assuming that collision risk 1 is less than collision risk 2, then the first workspace with the lowest collision risk is determined to be workspace b.

[0157] Then, the second target angle of each joint corresponding to the first workspace with the lowest collision risk can be taken as the first target angle, and the arm can be positioned according to the first target angle of each joint of the arm corresponding to the first workspace.

[0158] Continuing with the example above, the first positioning module 203 uses 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 angle to control the positioning of the robotic arm.

[0159] In the above embodiments, since the collision risk is determined based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms, and the second target angle of each joint corresponding to the first workspace with the lowest collision risk is determined as the first target angle, the collision risk of controlling the robotic arm to be positioned based on the first target angle 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 robotic arm to position itself according to the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the robotic arm.

[0161] In this embodiment, the first positioning module 203 can also obtain the current angle of each joint in the robotic arm. Therefore, the first positioning module 203 knows the "starting angle" and "ending angle" of each joint in the robotic arm during the positioning process. It can be understood that the current angle of each joint is the "starting angle," and the first target angle of each joint is the "ending angle."

[0162] Thus, the first positioning module 203 can control the robotic arm to position itself based on the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the robotic arm.

[0163] Optionally, the first positioning module 203 can use a preset algorithm to perform motion planning on the robotic arm based on the current angle and target angle of each joint in the robotic arm, and determine the second motion trajectory of the robotic arm.

[0164] The preset algorithm may include, but is not limited to, grid search, free space, and quadtree methods. The second motion trajectory describes the joint trajectories of each joint in the robotic arm when it is positioned according to the first target angle. Taking joint 1 of robotic arm 1 as an example, the second motion trajectory of robotic arm 1 may include the expected angle 1 at time 1, the expected angle 2 at time 2, the expected angle 3 at time 3, ..., the expected angle t at time t. Here, t is an integer greater than or equal to 1.

[0165] Furthermore, after determining the second motion trajectory, the first positioning module 203 can control the robotic arm to position itself according to the second motion trajectory.

[0166] Continuing with the example of joint 1 of the first robotic arm, optionally, the first positioning module 203 can, based on the first motion trajectory, provide a drive signal for joint 1 of the first robotic arm at each moment according to the current angle of joint 1, so that the actual angle of joint 1 of the first robotic arm at each moment satisfies the desired angle in the first motion trajectory. In this way, after controlling the movement of the first robotic arm, it can be positioned to the state corresponding to the first workspace without changing the first target pose and without colliding with adjacent positioned robotic arms.

[0167] In the above embodiments, since the positioning of the robotic arm can be controlled according to the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the robotic arm, the positioning efficiency is improved.

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

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

[0170] In this embodiment, optionally, the third determining unit can acquire 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 based on the attribute information. The third determining unit can also acquire a first simulation model sent by other devices. The third determining unit can also receive relevant parameters of the lesion area input by the user, and determine the first simulation model based on the input parameters.

[0171] The first simulation model may include a three-dimensional shape for simulating the lesion area, such as a sphere or a cube. Medical scanning equipment includes, but is not limited to, ultrasound equipment, computed tomography (CT) equipment, magnetic resonance imaging (MRI) equipment, positron emission tomography (PET) equipment, and PET-CT equipment.

[0172] The fourth determining unit is used to determine the preset workspace based on the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model; the preset workspace includes the range of motion of the end of the holding arm when the lateral joint and the pitch joint in the holding arm are in the corresponding preset range of motion.

[0173] In this embodiment, the size information of the first simulation model is used to indicate the size of the simulation model. Taking 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 distal point of the puncture card and the lesion area can be determined based on the location information corresponding to the distal point of the puncture card and the location information corresponding to the lesion area.

[0175] The fourth determining unit can receive the distance between the distal point of the puncture card and the lesion area sent by other devices. The fourth determining unit can also use sensors to obtain the location information corresponding to the distal point of the puncture card or the location information corresponding to the lesion area, and calculate the distance between the distal point of the puncture card and the lesion area based on these location information.

[0176] Optionally, since the telecentric point of the stamp remains unchanged during the positioning process, the position information corresponding to the telecentric point of the stamp can be determined based on the first target pose. In some embodiments, the current angles of each joint in the robotic arm can also be obtained, and the position information corresponding to the telecentric point of the stamp can be determined after performing forward kinematics on the robotic arm.

[0177] Furthermore, the fourth determining unit will determine the preset workspace based on the distance between the distal point of the stamp card and the lesion area, as well as the size information of the first simulation model.

[0178] Optionally, the fourth determining unit can determine the maximum range of motion of the yaw joint and the maximum range of motion of the pitch joint using the arctangent function based on the distance between the centroid of the puncture card and the lesion area and the size information of the first simulation model, and obtain the preset workspace based on the maximum range of motion of the yaw joint and the maximum range of motion of the pitch joint.

[0179] For example, in this embodiment, optionally, the sixth determining unit can determine according to... arctangent function Determine the preset range of motion of the lateral joint. and according to arctangent function Determine the preset range of motion of the pitch joint. Where m and n are empirical coefficients determined based on requirements, and can be numbers greater than 1.

[0180] Furthermore, based on the preset range of motion of the lateral joint... and the preset range of motion of the pitch joint This allows us to determine the range of motion at the end of the robotic arm, which in turn determines the preset workspace.

[0181] In the above embodiments, since the preset workspace includes the range of motion of the end of the robotic arm when the lateral joint and the pitch joint are in the corresponding preset range of motion, the preset workspace can be determined more accurately by determining the first simulation model corresponding to the lesion area and by using the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model.

[0182] In an exemplary embodiment, the first simulation model is an ellipsoid. The fourth determining unit is further configured to: determine the target ratio between the target axis length and the distance of the ellipsoid in the target direction; and determine the second motion range based on the arctangent function of the target ratio. 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 the axis length of the ellipsoid in the first direction, and the target angle threshold is a 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 a preset motion range of the pitch joint.

[0183] Figure 4 This is a schematic diagram of a first simulation model in an embodiment of this application. For example, the size and shape of the lesion area can be determined by a three-dimensional scanning device, and the lesion area envelope can be fitted into an ellipsoid according to the size and shape of the lesion area, and the end of the device connected to the holding arm can be fitted into a cone.

[0184] Please continue to refer to Figure 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' in the Z direction (i.e., the second direction). It is understandable 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] The distance L between the distal point of the puncture card and the lesion area is defined as follows. For lateral joints, since the primary hand typically operates two surgical arms during surgery, the working space of the surgical arms in the X direction must cover at least half of the lesion area. Based on this, the fourth determining unit determines the ratio between a / 2 and the distance L. and according to arctangent function Determine the preset range of motion of the lateral joint. For example, it can be... As a preset range of motion Understandably, this is the preset range of motion of the lateral joint. This indicates the minimum range of motion of the robotic arm in the X direction, and the maximum range of motion of the yaw joint must not be less than the preset range of motion. .

[0186] For the pitch joint, the workspace of the robotic arm in the Z direction must be able to cover at least the entire lesion area. Based on this, the fourth determining unit determines the ratio between b and distance L. and according to arctangent function Determine the preset range of motion of the pitch joint. For example, it can be... As a preset range of motion It is understandable that the preset range of motion of the pitch joint is... This indicates the minimum range of motion of the robotic arm in the Z direction, and the maximum range of motion of the pitch joint must not be less than the preset range of motion. .

[0187] In one embodiment, after calculating the maximum range of motion of the yaw and pitch joints for each first preset angle, the maximum range of motion of the yaw joint is compared to see if it is not less than the preset range of motion. And whether the maximum range of motion of the pitch joint is not less than the preset range of motion. And the maximum range of motion of the lateral joint is not less than the preset range of motion. And the maximum range of motion of the pitch joint is not less than the preset range of motion. In this case, the workspace corresponding to the first preset angle is determined to be larger than the preset workspace.

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

[0189] In one exemplary embodiment, optionally, after controlling the positioning of the surgical robot arm according to the first target angle of each joint of the arm corresponding to the first workspace, the positioning system 200 of the surgical robot further includes a fifth determining module. Wherein:

[0190] The fifth determination module is used to determine the second simulation model of the lesion area and update the preset workspace based on the second simulation model.

[0191] During intraoperative positioning of the robotic arms, situations may arise where the robotic arms are about to collide or have already collided, or where joints in the robotic arms have reached their limit angles, making certain lesion areas inaccessible to the instrument. To make these inaccessible lesion areas accessible to the instrument, in this embodiment, the fifth determining module determines a second simulation model of the lesion area. This second simulation model can be smaller than the first simulation model.

[0192] Optionally, the fifth determining module can determine the second simulation model based on the first simulation model and the first workspace. For example, the second simulation model can be obtained by subtracting the first workspace from the first simulation model.

[0193] Furthermore, the fifth determination module can update the preset workspace based on the second simulation model. The process of updating the preset workspace based on the second simulation model can refer to the process of determining the first simulation model based on the first simulation model, and will not be repeated here.

[0194] In this embodiment, after the robotic arm is positioned according to the first target angle of each joint of the robotic arm corresponding to the first workspace, a second simulation model of the lesion area is determined, and the preset workspace is updated according to the second simulation model. Therefore, the success rate of positioning is improved.

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

[0196] The fifth determining unit is used to determine the diameter of the second simulation model based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm; the first holding arm and the second holding arm are the holding arms for intraoperative operation.

[0197] To allow access to areas that would otherwise be inaccessible to the end effector, the workspace may no longer be the entire lesion area, but rather a portion of it. Therefore, in this embodiment, the fifth determining unit determines the second simulation model based on the end-effector positions of the two robotic arms controlled by the master hand.

[0198] Figure 5 This is a schematic diagram of a second simulation model in an embodiment of this application. For example, the second simulation model can be a sphere. Let the surgical arms used in the operation be the first surgical arm and the second surgical arm; then the first robotic arm is robotic arm number 1, and the second robotic arm is robotic arm number 3. The robotic arm used in the operation can be the robotic arm operated by the primary hand.

[0199] Furthermore, the fifth determining unit can determine the diameter of the second simulation model based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm.

[0200] Optionally, the fifth determining 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. Alternatively, the fifth determining unit can 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] The first position information can be obtained through a position sensor, or it can be obtained by performing forward kinematics calculations on the first robotic arm after acquiring the current angles of each joint. This embodiment does not impose any limitations. The second position information follows the same principle and will not be described in detail here.

[0202] For example, the fifth determining unit can, under conditions such as an impending or already occurring collision between robotic arms, or joints in the holding arm having moved to their limit angles, acquire the current angles of each joint in the first holding arm, perform forward kinematics calculations on the first holding arm to determine first position information, and acquire the current angles of each joint in the second holding arm, perform forward kinematics calculations on the second holding arm to determine second position information. Then, based on the first and second position information, the diameter of the second simulation model is determined.

[0203] The sixth determining unit is used to update the preset workspace based on the diameter.

[0204] In this embodiment, optionally, the sixth determining unit can determine according to arctangent function Update the preset range of motion of the lateral joint. and according to arctangent function Update the preset range of motion of the pitch joint. Where k and q are empirical coefficients determined according to requirements, and can be numbers greater than 1.

[0205] In the above embodiments, since the first and second surgical arms are surgical arms used during the operation, after determining the diameter of the second simulation model based on the first position information of the distal point of the puncture card in the first surgical arm and the second position information of the distal point of the puncture card in the second surgical arm, the preset workspace can be updated according to the diameter to update the minimum space for the instrument to operate on the lesion area, thereby improving the success rate and efficiency of positioning.

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

[0207] In this embodiment, the diameter of the second simulation model is denoted as D. The fourth determining unit determines the ratio between D / 2 and the distance L. and according to arctangent function Determine the preset range of motion of the lateral joint. For example, a preset range of motion can be used. Updated to .

[0208] For the pitch joint, the fourth determining unit determines the ratio between D and distance L. and according to arctangent function Determine the preset range of motion of the pitch joint. For example, it can be... As a preset range of motion .

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

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

[0211] The sixth determination module is used to obtain the current angle of each joint in the robotic arm and calculate the first target pose through the positive motion of the robotic arm.

[0212] During the procedure, the primary hand manipulates the movement of the surgical arm, which may cause changes in the initial target pose of the surgical arm. Therefore, this embodiment, after updating the preset workspace based on the second simulation model, can obtain the current angles of each joint in the surgical arm and calculate the initial target pose through the positive motion of the surgical arm.

[0213] Furthermore, the sixth determining unit can continue to determine the first working space at the end of the holding arm when the first target pose of the holding arm's card remains unchanged, based on the multiple first preset angles of the redundant joints, and control the holding arm to position itself according to the first target angle of each joint of the holding arm corresponding to the first working space.

[0214] In the above embodiments, since the current angle of each joint in the robotic arm can be obtained and the first target pose can be calculated through the positive motion of the robotic arm, the accuracy of the first target pose is improved.

[0215] The above describes a positioning procedure that enables the instrument to operate on the lesion area. The following describes a positioning procedure that aligns the axis of the puncture card with the lesion area while keeping the distal point of the puncture card stationary.

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

[0217] The seventh determination module is used to determine the third position information of the distal point of the puncture card and the fourth position information of the lesion area in the suspension plate coordinate system based on the current angle of each joint in the surgical arm when the lesion area is located in the center of the endoscope's field of view; the suspension plate coordinate system is based on the position determination of the suspension plate of the surgical robot.

[0218] Figure 6 This is a schematic diagram of a coordinate system in an embodiment of this application, such as... Figure 6 As shown, in this embodiment, the suspension plate coordinate system can be determined based on the position of the surgical robot's suspension plate. The telecentric coordinate system is determined based on the telecentric point of the card connected to the surgical robot. The endoscopic coordinate system is determined based on the endoscope's tip, which is connected to the surgical robot. For example, the suspension platform coordinate system is determined based on the center of the suspension platform. In the Establish a telecentric coordinate system for the telecentric point of the card connected to the robotic arm. Establish an endoscope coordinate system at the endoscope tip. Where i can be 1, 2, 3, or 4, when i=1, it represents the first robotic arm, or robotic arm number 1. This represents the coordinate system of the telecentric point corresponding to robotic arm No. 1, and so on.

[0219] If the lesion area is located in the center of the endoscope's field of view, it indicates that the endoscope arm has been connected to the endoscope and the endoscope has been aligned with the lesion area. The lesion area being located in the center of the endoscope's field of view can mean any point within the lesion area is in the center of the endoscope's field of view; for example, the midpoint of the lesion area could be in the center of the endoscope's field of view.

[0220] Optionally, the physician can attach the endoscope to the endoscopic arm and a trocar to the surgical arm, align the endoscope with the lesion area, and after the lesion area is in the center of the endoscope's field of view, press the positioning button so that the seventh determination module confirms that the lesion area is now in the center of the endoscope's field of view. The seventh determination module can also determine whether the lesion area is in the center of the endoscope's field of view by periodically acquiring images from the endoscope.

[0221] Furthermore, with the lesion area located at the center of the endoscope's field of view, the surgical robot's robotic arm is temporarily stationary. Therefore, the seventh determination module can determine the third position information of the telecentric point of the trocar connected to the holding arm in the suspension plate coordinate system based on the current angles of each joint in the surgical robot's robotic arm. and the fourth location information of the lesion area .

[0222] Understandably, the third position information can be determined based on the current angles of each joint in the robotic arm. Based on the current angles of each joint in the arm holding the mirror, the fourth position information can be determined. .

[0223] The following describes how to determine the third location information. The process.

[0224] In an exemplary embodiment, optionally, the seventh determining module is further configured to obtain the current angle of each joint in the holding arm, and calculate the third position information of the telecentric point of the card in the suspension plate coordinate system through the positive motion of the holding arm. To improve third-location information Determine the efficiency.

[0225] In some embodiments, the seventh determining module may also perform post-processing such as correction on the results of the forward kinematics calculation after acquiring the current angles of each joint in the robotic arm and performing forward kinematics calculations, in order to obtain the third position information. .

[0226] The seventh determining module can obtain the current angle of each joint in each robotic arm based on the sensors corresponding to each joint in the robotic arm.

[0227] remember , , and The coordinates of the third position information of the telecentric point of the card corresponding to the i-th mechanical arm can be represented in the x, y, and z directions, respectively.

[0228] For example, the seventh determining module can determine the third position information of the card-punching telecentric point corresponding to the first robotic arm by using forward kinematics based on the current angles of each joint in the first robotic arm. Based on the current angles of each joint in robotic arm #3, the third position information of the corresponding card-punching telecentric point of robotic arm #3 can be determined through forward kinematics. Based on the current angles of each joint in robotic arm #4, the third position information of the corresponding card-punching telecentric point of robotic arm #4 can be determined through forward kinematics. .

[0229] It should be noted that the third position information of the centroid of the stamped card in the suspension plate coordinate system. This can also be understood as the centroid of the stamped card in the centroid coordinate system. Position information relative to the suspension platform coordinate system Location information.

[0230] The following describes the fourth location information for determining the lesion area. The process.

[0231] In an exemplary embodiment, optionally, the seventh determining module is further configured to obtain the current angle of each joint in the endoscope holding arm, calculate the fifth position information of the end of the endoscope in the suspension plate coordinate system through the positive motion of the endoscope holding arm, and 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.

[0232] Taking robotic arm No. 2 as the endoscope-holding arm as an example, the seventh determining module can determine the fifth position information of the endoscope tip of robotic arm No. 2 in the suspension plate coordinate system based on the current angle of each joint in robotic arm No. 2. Among them, the fifth position information This can also be understood as the endoscope tip in the endoscope coordinate system. pose information relative to the suspension plate coordinate system The pose information.

[0233] Furthermore, the seventh determining module can determine the sixth position information of the lesion area in the endoscopic coordinate system when the lesion area is located at the center of the endoscopic field of view. .in, . , and The coordinates of the sixth location information of the lesion area in the x, y, and z directions can be represented respectively.

[0234] The seventh determining module can obtain the sixth position information by communicating with the endoscope. In some embodiments, the seventh determining module may also acquire the type of endoscope and determine the sixth position information based on the type of endoscope. Endoscopes can be of different types with different fields of view, such as 30° endoscopes, 0° endoscopes, or endoscopes with other angles.

[0235] Since the center of the field of view is located at different angles of view, in some embodiments, the seventh determining module can store a first correspondence between different types of endoscopes and different sixth position information. Therefore, after determining the type of endoscope, the sixth position information can be determined using the type of endoscope and the aforementioned first correspondence. .

[0236] Furthermore, it is possible to base it on the fifth position information. and the sixth position information Determine the fourth location information Optionally, the transformation relationship between the endoscope coordinate system and the suspension plate coordinate system can be utilized, based on the fifth position information. and the sixth position information Determine the fourth location information .

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

[0238] (1)

[0239] In the above embodiments, since the current angle of each joint in the endoscope arm can be obtained, the fifth position information of the end of the endoscope in the suspension plate coordinate system can be calculated through the positive motion of the endoscope arm, and the fourth position information can be determined based on the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system, thus improving the efficiency of determining the fourth position information.

[0240] In some embodiments, the seventh determining module may also perform post-processing such as correction on the results of the forward kinematics calculation after acquiring the current angles of each joint in the lens-holding arm and performing forward kinematics calculations, in order to obtain the fifth position information. And based on the fifth position information and the sixth position information Determine the fourth location information However, this embodiment is not limited thereto.

[0241] The eighth determining module is used to determine the first target pose of the holding arm based on the third position information and the fourth position information; the first target pose is the pose information where the third position information of the distal point of the puncture card remains unchanged and the axial direction of the puncture card points to the lesion area.

[0242] Since the endoscope has already been aligned with the lesion area, and the endoscope arm typically remains stationary during the procedure, only the surgical arm needs to be positioned. However, because the trocar in the surgical arm needs to connect to surgical instruments, to minimize the impact on the target object during the positioning process and to ensure that the positioned surgical arm faces the lesion area for easier subsequent surgery, in this embodiment, first position information is determined. Second position information Then, the eighth determining module can determine the position based on the first position information. Second position information Determine the first position information on the stamped card. The first target pose remains unchanged, and the axis of the card is pointed towards the lesion area. .

[0243] Optionally, the eighth determining module can determine the position based on the first position information. Second position information The posture of the robotic arm is determined when the axial direction of the corresponding trocar points to the center of the lesion area, and the first position information is recorded. And the posture of the holding arm when the distal point of the card is pointed to the center of the lesion area is used as the first target posture. .

[0244] It is understandable that the initial target pose can be different for different stamping cards. For example, robotic arm number 1 corresponds to the initial target pose. The No. 3 robotic arm corresponds to the pose of the first target. .

[0245] In the above embodiments, since the suspension plate coordinate system is determined based on the position of the surgical robot's suspension plate, and the lesion area is located at the center of the endoscope's field of view, the first position information of the distal point of the trocar of the robotic arm and the second position information of the lesion area are determined according to the current angles of each joint in the surgical robot's robotic arm. This allows for a relatively accurate determination of the first and second position information. Furthermore, based on the first and second position information, the first pose information can be determined when the first position information remains unchanged and the trocar's axis points towards the lesion area.

[0246] In an exemplary embodiment, optionally, the eighth determining module includes a seventh determining unit and an eighth determining unit. Wherein:

[0247] The seventh determining unit is used to determine the target attitude information based on the third and fourth position information.

[0248] In this embodiment, due to the third location information This refers to the location information of the distal point of the puncture card in the suspension plate coordinate system, assuming the lesion area is located at the center of the endoscope's field of view. Fourth location information. This refers to the positional information of the lesion area in the suspension plate coordinate system, assuming the lesion area is located at the center of the endoscope's field of view. Therefore, based on the third positional information... and fourth position information This allows us to determine the target's attitude information. .

[0249] Among them, target attitude information This refers to the posture information of the robotic arm when the axis of the trocar of the robotic arm points towards the lesion area. Optionally, the seventh determining unit can subtract the fourth position information from the third position information corresponding to each robotic arm to determine the target posture information corresponding to each robotic arm.

[0250] The eighth determining unit is used to determine the first target pose of the robotic arm based on the third position information and the target pose information.

[0251] Furthermore, determine the target posture information of the lens-holding arm. Subsequently, due to the third location information Unchanged, therefore, according to the third position information and target attitude information This allows us to determine the first target pose of the card. Among them, the first target pose Including first location information and target attitude information In other words, the eighth determining unit can obtain the first position information. and target attitude information As the primary target position .

[0252] For example, the eighth determining unit can determine the first target pose according to the following formula (2). .

[0253] (2)

[0254] In the above embodiments, since the target posture information is the posture information of the puncture card when the axis of the puncture card of the holding arm points to the lesion area, the target posture information is determined according to the third position information and the fourth position information, and the first target posture that meets the positioning expectation can be determined according to the third position information and the target posture information.

[0255] In an exemplary embodiment, the seventh determining unit is further configured to determine a first direction vector pointing from the distal point of the card to the lesion area based on 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 target posture information based on the first direction vector, the second direction vector, and the third direction vector.

[0256] In this embodiment, due to the third location information This is the position information of the telecentric point of the corresponding card on the robotic arm in the coordinate system of the suspended platform, the fourth position information. This refers to the location information of the lesion area in the suspension plate coordinate system when the lesion area is located at the center of the endoscope's field of view. Therefore, based on the third location information... and fourth position information This allows us to determine the first direction vector in the i-th robotic arm, pointing from the axis of the card to the lesion area. It is understandable that the first direction vector... It is the direction vector of the axis where the i-th robotic arm's stamp card is located, that is, the telecentric coordinate system. The vector in the y-direction.

[0257] Among them, the third location information can be Subtract the fourth position information After obtaining the first result and vectorizing it, the first direction vector is obtained.

[0258] For example, for robotic arm number 1, based on the third position information and fourth position information This allows us to determine the first direction vector corresponding to robotic arm number 1. Similarly, the first direction vector corresponding to robotic arm number 3 can also be determined. And the first direction vector corresponding to robotic arm No. 4 .

[0259] Furthermore, since there are no other constraints in the direction perpendicular to the axis where the stamp card is located, the second determining subunit 502 can determine the vector relative to the first direction in any space. Two orthogonal direction vectors are used as the second direction vector. and third-party vector Among them, the second direction vector That is, the vector in the x-direction and the vector in the third direction. That is, the direction vector in the z-direction.

[0260] In other words, a second direction vector can be selected from space. and third-party vector As long as the first direction vector is satisfied for the same robotic arm Second direction vector and third-party vector Both pairs of perpendicular vectors are sufficient. Optional, the second direction vector. and third-party vector It can be a unit vector.

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

[0262] Furthermore, the first determining unit 402 can determine the direction vector based on the first direction vector. Second direction vector and third-party vector Determine the target attitude information Optionally, the third determining subunit 503 can determine the first direction vector. Second direction vector and third-party vector As target attitude information That is to say, .

[0263] Continuing with the example above, we can then... Target attitude information for robotic arm No. 1 ,Will Target attitude information for robotic arm No. 3 ,Will Target attitude information for robotic arm No. 4 .

[0264] In the above embodiments, since a first direction vector pointing from the centroid of the puncture card to the lesion area is determined based on the third and fourth position information, and a second and third direction vectors orthogonal to the first direction vector are determined, the target posture information that makes the axis of the puncture card point to the lesion area can be accurately and efficiently determined based on the first, second, and third direction vectors.

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

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

[0267] In this embodiment, the second positioning module can position the robotic arm according to the first target pose. Optionally, for each robotic arm, the second positioning module can perform inverse kinematics calculations on the robotic arm according to the first target pose to determine the calculation result. Then, the second positioning module determines the motion strategy of each robotic arm according to the calculation result of each robotic arm, so as to control the movement of each robotic arm according to the motion strategy.

[0268] In the above embodiments, since the first target pose is the pose information when the first position information remains unchanged and the axial direction of the trocar points towards the lesion area, after positioning the surgical arm according to the first target pose, it is possible to align the axial direction of the trocar with the lesion area without moving the distal point of the trocar corresponding to the surgical arm. The above-mentioned positioning of the surgical arm does not rely on the doctor's experience, thus reducing dependence on the doctor, reducing positioning time, and thereby improving the accuracy and efficiency of positioning.

[0269] In an exemplary embodiment, the second positioning module is further configured to: perform inverse kinematics calculation on the robotic arm according to the first target pose; determine the target angle of each joint in the robotic arm if an inverse kinematics solution exists; determine the first motion trajectory of the robotic arm based on the current angle and target angle of each joint in the robotic arm; and control the robotic arm to position according to the first motion trajectory.

[0270] In this embodiment, after determining the first target pose, the second positioning module can perform inverse kinematics calculations on the robotic arm based on the first target pose. If an inverse kinematics solution exists, the calculated inverse solution is the target angle of each joint in the robotic arm. The target angle is the angle that each joint in the robotic arm ultimately needs to achieve after positioning.

[0271] For example, assuming that the first robotic arm includes joints 1 to 3, after the second positioning module performs inverse kinematics calculation on the first target pose, it can determine the target angle 1 of joint 1, the target angle 2 of joint 2, and the target angle 3 of joint 3 of the first robotic arm. The same applies to other robotic arms, and will not be elaborated here.

[0272] Optionally, the inverse kinematics calculation of the arm is performed based on the first target pose. However, there may not be an inverse kinematics solution. If there is no inverse kinematics solution, the second positioning module can issue a prompt message to indicate to the doctor that the current positioning has failed.

[0273] Furthermore, the second positioning module can also determine the current angle of each joint 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. Thus, the second positioning module can perform motion planning on the robotic arm based on the current angle and target angle of each joint in the robotic arm to determine the first motion trajectory of the robotic arm.

[0274] Optionally, the second positioning module can utilize a preset algorithm to determine the first motion trajectory of the robotic arm based on the current angle and target angle of each joint in the robotic arm. The preset algorithm may include, but is not limited to, grid search, free space, and quadtree methods.

[0275] Similarly, the first 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 pose. Taking joint 1 of robotic arm 1 as an example, the first motion trajectory of robotic arm 1 may include the expected angle 1 of joint 1 of robotic arm 1 at time 1, the expected angle 2 at time 2, the expected angle 3 at time 3, ..., the expected angle t at time t. Wherein, t is an integer greater than or equal to 1.

[0276] Furthermore, once the first motion trajectory is determined, the second positioning module can control the robotic arm to position itself according to the first motion trajectory.

[0277] Taking joint 1 of the first robotic arm as an example, optionally, the second positioning module can, based on the first motion trajectory, provide a drive signal for joint 1 of the first robotic arm at each moment according to the current angle of joint 1 of the first robotic arm, so that the actual angle of joint 1 of the first robotic arm at each moment satisfies the expected angle in the first motion trajectory.

[0278] In some embodiments, the second positioning module can also determine multiple candidate path points for the robotic arm based on the current angle, target angle, and target parameters of each joint 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 indicates the step size for planning the robotic arm. The angle limit range indicates the adjustable angle range of each joint in the robotic arm, preventing the joint rotation angle from falling 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 arms.

[0279] In this way, based on the current angle and target angle of each joint in the robotic arm, by setting a preset step size, angle limit range and 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, the first motion trajectory can be determined based on each candidate path point. For example, the second positioning module determines the first motion trajectory based on each candidate path point through multi-axis synchronous trajectory planning.

[0281] Subsequently, 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 of the puncture card is directed towards the lesion area while the first position information remains unchanged.

[0282] In the above embodiments, inverse kinematics calculation is performed on the robotic arm based on the first target pose. If an inverse kinematics solution exists, the target angles of each joint in the robotic arm are determined. Based on the current angles and target angles of each joint in the robotic arm, the first motion trajectory of the robotic arm is determined. In this way, after the robotic arm is positioned according to the first motion trajectory, the corresponding stamp card of the robotic arm satisfies the first target pose.

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

[0284] The eighth determination module is used 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 the input operation.

[0285] In this embodiment, the eighth determining module can provide an interactive interface. The interactive interface may include multiple candidate surgical sites and multiple candidate placement modes. Users can initiate input operations based on the interactive interface to select the surgical site to be operated on from the multiple candidate surgical sites, and to select the installation placement mode from the multiple candidate placement modes. In this way, the eighth determining module can respond to the input operations and determine the surgical site to be operated on by the surgical robot and the installation placement mode of the surgical robot.

[0286] The surgical site can be any part of the target object. The mounting and positioning mode is used to indicate the positional relationship between the surgical robot and the target object.

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

[0288] Please continue to refer to this. Figure 7 Candidate placement patterns can include Right, Left, and Straight modes. Right mode, also known as right-facing placement, is... Figure 8 This is a schematic diagram of a right-facing placement pattern in an embodiment of this application, as shown below. Figure 8 As shown, in Right mode, the surgical robot 102 is on the left side of the operating table 103, and the suspension plate in the surgical robot is rotated to the right at a certain angle. Left mode is also the left-facing positioning mode. Figure 9 This is a schematic diagram of a left-facing placement pattern in an embodiment of this application, as shown below. Figure 9 As shown, in Left mode, the surgical robot 102 is positioned to the right of the operating table 103, and the suspension plate within the surgical robot is rotated to the left at a certain angle. Straight mode, also known as the facing positioning mode, Figure 10 This is a schematic diagram of a forward-facing placement mode in an embodiment of this application, as shown below. Figure 10 As shown, in Straight mode, the surgical robot 102 can be positioned at the foot of the target object on the operating table 103, and the suspension plate in the surgical robot does not rotate and remains upright.

[0289] For example, the eighth determining module can determine the surgical site as the pelvic cavity and the installation positioning mode as the Right mode in response to the input operation.

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

[0291] The interactive interface may include enable controls. The third positioning module can generate corresponding enable signals in response to operations on the enable controls in the interactive interface. Please continue to refer to [link / reference needed]. Figure 7 The interactive interface includes an "automatic positioning" function. When the user presses "automatic positioning," the third positioning module generates an enable signal. In response to the enable signal, the third positioning module positions the surgical robot according to the surgical site and the installation positioning mode.

[0292] Optionally, the third positioning module can store a second correspondence 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 based on the surgical site and the installation positioning mode using the second correspondence. Then, the third positioning module can position the surgical robot using the target positioning method.

[0293] The target positioning method may include moving the surgical robot to a preset position and / or rotating the suspension plate in the surgical robot by a preset angle. The preset angle may be within the range of [-90°, 90°], and this embodiment does not impose any limitation.

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

[0295] In some embodiments, the third positioning module can also respond to a stop enable signal to stop the surgical robot from positioning. For example, in the event of an unexpected situation or when the doctor needs to attend to other matters first, the doctor can release the "Auto Positioning" button on the interface, thus stopping the surgical robot from automatically positioning. If the user continues to press and hold "Auto Positioning" again, the surgical robot will resume positioning.

[0296] In the above embodiments, since the surgical site to be operated on and the installation and positioning mode of the surgical robot can be determined in response to the input operation, and the surgical robot can be positioned according to the surgical site and installation and positioning mode in response to the enable signal, the surgical robot can be reasonably located near the target object after the surgical robot is positioned, which facilitates the subsequent robotic arm to align with the lesion area and improves the positioning efficiency of the subsequent robotic arm.

[0297] The modules in the positioning system of the surgical robot described above can be implemented entirely or partially through software, hardware, or a combination thereof. These 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 corresponding operations of each module.

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

[0299] Figure 11 This is a flowchart illustrating the positioning method of the surgical robot in an embodiment of this application. In one exemplary embodiment, such as... Figure 11 As shown, a method for positioning a surgical robot is provided, which can be applied to... Figure 1 The following explanation uses computer equipment as an example, including the following steps S1101 to S1103.

[0300] S1101, Determine the preset working space of the end effector of the surgical robot arm. The preset working space is the minimum space required for the instrument connected to the surgical arm to operate on the lesion area.

[0301] S1102, based on multiple first preset angles of redundant joints in the surgical robot's holding arm, determine the first working space at the end of the holding arm when the first target pose of the card in the holding arm remains unchanged, and the first working space is greater than the preset working space.

[0302] S1103, the arm is positioned according to the first target angle of each joint of the arm corresponding to the first workspace.

[0303] In one exemplary embodiment, optionally, the robotic arm includes a yaw joint and a pitch joint, and the first workspace of the end effector of the robotic arm includes the range of motion of the end effector of the robotic arm when the yaw joint and the pitch joint are at their respective maximum range of motion.

[0304] In an exemplary embodiment, optionally, S1102 can be implemented as follows:

[0305] For each first preset angle, inverse kinematics is performed based on the first target pose and the first preset angle to determine the second target angle of each joint in the arm. Based on the second target angle of the yaw joint and the limiting angle of the yaw joint, the maximum range of motion of the yaw joint of the arm corresponding to the first preset angle is determined. Based on the second target angle of the pitch joint and the limiting angle of the pitch joint, the maximum range of motion of the pitch joint of the arm corresponding to the first preset angle is determined.

[0306] In an exemplary embodiment, optionally, the above-mentioned "determining the maximum range of motion of the swing joint of the holding arm corresponding to the first preset angle based on the second target angle of the swing joint and the limiting angle of the swing joint, and determining the maximum range of motion of the pitch joint of the holding arm corresponding to the first preset angle based on the second target angle of the pitch joint and the limiting angle of the pitch joint" can also be implemented in the following way:

[0307] Determine the minimum difference between the second target angle of the target joint and the limiting angle of the target joint; determine the first range of motion based on the minimum difference; wherein, when the target joint is a yaw joint, the first range of motion is the maximum range of motion of the yaw joint; when the target joint is a pitch joint, the first range of motion is the maximum range of motion of the pitch joint.

[0308] In one exemplary embodiment, optionally, the above-described surgical robot positioning method further includes the following steps:

[0309] The collision risk is determined based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms; the second target angle of each joint corresponding to the first workspace with the lowest collision risk is determined as the first target angle.

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

[0311] Based on the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the robotic arm, the robotic arm is controlled to be positioned.

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

[0313] Determine the first simulation model corresponding to the lesion area; determine the preset workspace based on the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model; the preset workspace includes the range of motion of the end of the robotic arm when the lateral joint and the pitch joint are in the corresponding preset range of motion.

[0314] In an exemplary embodiment, optionally, the above-mentioned "determining the preset workspace based on the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model" can be implemented in the following way:

[0315] Determine the target ratio between the target axis length and the distance of the ellipsoid in the target direction; determine the second range of motion based on 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 the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset range of motion 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 range of motion of the pitch joint.

[0316] In an exemplary embodiment, optionally, after controlling the positioning of the surgical arm according to the first target angle of each joint of the surgical arm corresponding to the first workspace, the positioning method of the surgical robot further includes the following steps:

[0317] A second simulation model of the lesion area is determined, and the preset workspace is updated based on the second simulation model.

[0318] In one exemplary embodiment, optionally, the second simulation model is a sphere; the aforementioned "determining the second simulation model of the lesion region and updating the preset workspace according to the second simulation model" can also be implemented in the following way:

[0319] The diameter of the second simulation model is determined based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm; the first holding arm and the second holding arm are the holding arms for intraoperative operation; the preset workspace is updated according to the diameter.

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

[0321] Determine a first ratio between half the diameter and the distance, and update the preset range of motion of the yaw joint based on the arctangent function of the first ratio; determine a second ratio between the diameter and the distance, and update the preset range of motion of the pitch joint based on the arctangent function of the second ratio.

[0322] In one exemplary embodiment, optionally, the above-described surgical robot positioning method further includes the following steps:

[0323] Obtain the current angle of each joint in the robotic arm, and calculate the first target pose through the positive motion of the robotic arm.

[0324] In one exemplary embodiment, optionally, the above-described surgical robot positioning method further includes the following steps:

[0325] With the lesion area located at the center of the endoscope's field of view, the third position information of the distal point of the trocar and the fourth position information of the lesion area are determined in the suspension plate coordinate system based on the current angles of each joint in the robotic arm. The suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot. The first target pose of the robotic arm is determined based on the third and fourth position information. The first target pose is the pose information where the third position information of the distal point of the trocar remains unchanged and the axis of the trocar points towards the lesion area.

[0326] In an exemplary embodiment, optionally, the above-mentioned "determining the first target pose of the robotic arm based on the third position information and the fourth position information" can be achieved in the following way:

[0327] The target posture information is determined based on the third and fourth position information; the first target pose of the robotic arm is determined based on the third position information and the target posture information.

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

[0329] Based on the third and fourth position information, a first direction vector pointing from the centroid of the card to the lesion area is determined; a second direction vector and a third direction vector orthogonal to the first direction vector are determined; and the target posture information is determined based on the first direction vector, the second direction vector, and the third direction vector.

[0330] In an exemplary embodiment, optionally, the above-mentioned "determining the third position information of the distal point of the puncture card in the suspension plate coordinate system and the fourth position information of the lesion area based on the current angle of each joint in the holding arm" can be achieved in the following way:

[0331] The current angles of each joint in the robotic arm are obtained, and the third position information of the centroid of the card in the suspension plate coordinate system is calculated through the positive motion of the robotic arm.

[0332] In an exemplary embodiment, optionally, the above-mentioned "determining the third position information of the distal point of the puncture card in the suspension plate coordinate system and the fourth position information of the lesion area based on the current angle of each joint in the holding arm" can be achieved in the following way:

[0333] The current angles of each joint in the endoscope arm are obtained, and the fifth position information of the endoscope tip in the suspension plate coordinate system is calculated through the positive motion of the endoscope arm. The fourth position information is determined based on the fifth position information and the sixth position information of the lesion area in the endoscope coordinate system.

[0334] In one exemplary embodiment, optionally, the above-described surgical robot positioning method further includes the following steps:

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

[0336] In an exemplary embodiment, optionally, the above-mentioned "positioning of the robotic arm according to the first target pose" can be achieved in the following way:

[0337] The inverse kinematics of the robotic arm is calculated based on the first target pose. If an inverse kinematics solution exists, the target angles of each joint in the robotic arm are determined. Based on the current angles and target angles of each joint in the robotic arm, the first motion trajectory of the robotic arm is determined. The robotic arm is then positioned according to the first motion trajectory.

[0338] In one exemplary embodiment, optionally, the above-described surgical robot positioning method further includes the following steps:

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

[0340] To more clearly illustrate the surgical robot positioning method in the embodiments of this application, this paper combines... Figures 12-14 Please provide an explanation.

[0341] Figure 12 This is a schematic diagram of a placement process in an embodiment of this application, such as... Figure 12 As shown, Figure 12 As shown, the process of this method can be as follows:

[0342] S1201, Select the surgical site and installation 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 installation positioning mode to move the surgical robot to a more reasonable position in space.

[0343] S1202, the surgical arm docks with the puncture card and the endoscope arm docks with the endoscope, and moves the endoscope to aim at 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 based on the first target pose. That is, in the second positioning stage, the third position information of the distal point of the puncture card remains unchanged, and the first pose information of the puncture card's axis pointing towards the lesion area is determined. The robotic arm is positioned according to the first target pose to achieve the alignment of the puncture card's axis with the lesion area while the distal point of the puncture card corresponding to the robotic arm remains stationary.

[0346] S1205, Determine the preset workspace.

[0347] S1206, determine the first target angle corresponding to the first workspace that is larger than the preset workspace and has the lowest collision risk.

[0348] S1207, the third positioning stage is completed according to the first target angle. That is, in the third positioning stage, the preset workspace of the end effector of the surgical robot is determined, and the first workspace is determined according to the multiple first preset angles of the redundant joints in the surgical robot's ...

[0349] Figure 13 This is one of the schematic diagrams illustrating the positioning method of the surgical robot in the embodiments of this application. Figure 14 This is a second schematic diagram illustrating the surgical robot positioning method in an embodiment of this application. In one exemplary embodiment, as shown... Figure 13 and Figure 14 As shown, the positioning method of the surgical robot includes S1301 to S1326.

[0350] First, in the preoperative positioning stage, S1301~S1302 are performed.

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

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

[0353] Subsequently, after the first positioning stage, the second positioning stage is entered before the operation, and S1303~S1312 are performed.

[0354] S1303: When the lesion area is located at the center of the endoscope's field of view, the current angle of each joint in the holding arm is obtained, and the third position information of the distal point of the puncture card in the suspension plate coordinate system is calculated through the positive motion of the holding arm.

[0355] S1304: When the lesion area is located at the center of the endoscope's field of view, obtain the current angle of each joint in the endoscope arm, and calculate the fifth position information of the endoscope's end in the suspension plate coordinate system through the positive motion of the endoscope 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 endoscopic coordinate system.

[0357] S1306, based on the third and fourth position information, determine the first direction vector pointing from the centroid of the puncture card to the lesion area.

[0358] S1307, determine the second direction vector and the third direction vector that are 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. The first target pose is the pose information where the third position information of the distal point of the puncture card remains unchanged, and the axial direction of the puncture card points towards the lesion area.

[0360] S1309, determine the first target pose of the robotic arm based on the third position information and the target pose information.

[0361] S1310, perform inverse kinematics calculation on the robotic arm based on the first target pose, and determine the target angle of each joint in the robotic arm if there is an inverse solution in the inverse kinematics calculation.

[0362] S1311, Based on the current angle and target angle of each joint in the robotic arm, determine the first motion trajectory of the robotic arm.

[0363] S1312, control the robotic arm to position according to the first motion trajectory.

[0364] After the second positioning stage, the third positioning stage is entered before or during the operation, and S1313~S1326 are performed.

[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 based on the arctangent function of the target ratio. Wherein, when the target direction is the first direction, the target axis length is half 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 the preset workspace based on the preset range of motion of the yaw and pitch joints. It can be understood that the preset workspace includes the range of motion of the end effector of the robotic arm when the yaw and pitch joints are within their corresponding preset ranges of motion.

[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 angle of each joint in the holding arm.

[0370] S1318, Based on the second target angle of the yaw joint and the limiting angle of the yaw joint, determine the minimum difference between the second target angle of the target joint and the limiting angle of the target joint.

[0371] S1319, determine the first range of motion based on the minimum difference. When the target joint is a lateral joint, the first range of motion is the maximum range of motion of the lateral joint; when the target joint is a pitch joint, the first range of motion is the maximum range of motion of the pitch joint.

[0372] S1320, determine the first workspace based on the maximum range of motion of the yaw joint and the maximum range of motion of the pitch joint corresponding to the first preset angle, as well as the preset workspace. The first workspace is larger than the preset workspace.

[0373] S1321, determine the collision risk based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms.

[0374] S1322, determine the second target angle of each joint corresponding to the first workspace with the lowest collision risk as the first target angle.

[0375] S1323, based on the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the holding arm, control the holding arm to position.

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

[0377] S1324, obtain the current angle of each joint in the robotic arm, and calculate the first target pose through the positive motion of the robotic arm.

[0378] S1325, the diameter of the second simulation model is determined based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm. The first and second holding arms are the holding arms used in the intraoperative procedure.

[0379] S1326, Update the preset workspace based on the diameter. This involves determining a first ratio between half the diameter and the distance, and updating the preset range of motion of the yaw joint based on the arctangent function of the first ratio; and determining a second ratio between the diameter and the distance, and updating the preset range of motion of the pitch joint based on the arctangent function of the second ratio. After S1326, return to step S1317.

[0380] It should be understood that there is no strict order restriction on the execution of the various steps involved in the embodiments described above, and these steps can be executed in other orders. Moreover, at least some of the steps involved in the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0381] Figure 15 The diagram below shows the internal structure of a computer device as described in an embodiment of this application. In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown below. Figure 15 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a surgical robot positioning method.

[0382] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0383] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0384] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

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

[0386] In one embodiment, a surgical robot system is also provided, which includes a positioning system for the surgical robot of any of the above embodiments.

[0387] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. 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), magnetic 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 take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0388] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0389] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A positioning system for a surgical robot, characterized in that, The system includes: The first determining module is used to determine the preset working space of the end effector of the surgical robot's holding arm. The preset working space is the minimum space that allows the instrument connected to the holding arm to operate on the lesion area. The holding arm includes a yaw joint and a pitch joint. The first working space includes the range of motion of the end effector of the holding arm when the yaw joint and the pitch joint are at their respective maximum range of motion. The second determining module is used to determine, based on multiple first preset angles of redundant joints in the surgical robot holding arm, a first working space at the end of the holding arm when the first target pose of the puncture card of the holding arm remains unchanged, wherein the first working space is greater than the preset working space. The first positioning module is used to control the positioning of the robotic arm according to the first target angle of each joint of the robotic arm corresponding to the first workspace. The second determining module is further configured to determine a third vector and a fourth vector based on the position information of the distal point of the stamp card and the position information of the instrument, and to take the second included angle between the third vector and the fourth vector as the maximum range of motion of the pitch joint; the third vector is the vector between the distal point and the instrument when the pitch joint is at the corresponding upper limit value, and the fourth vector is the vector between the distal point and the instrument when the pitch joint is at the corresponding lower limit value.

2. The system according to claim 1, characterized in that, The second determining module is further configured to: Based on the position information of the distal point of the stamp card and the position information of the device, a first vector and a second vector are determined, and the first angle between the first vector and the second vector is taken as the maximum range of motion of the eccentric joint; the first vector is the vector between the distal point and the device when the eccentric joint is at the corresponding upper limit value, and the second vector is the vector between the distal point and the device when the eccentric joint is at the corresponding lower limit value.

3. The system according to claim 1, characterized in that, The second determining module includes: The first determining unit is used to perform inverse kinematics solution based on the first target pose and the first preset angle for each of the first preset angles, and determine the second target angle of each joint in the holding arm. The second determining unit is used to determine the maximum range of motion of the swing joint of the holding arm corresponding to the first preset angle based on the second target angle of the swing joint and the limiting angle of the swing joint, and to determine the maximum range of motion of the pitch joint of the holding arm corresponding to the first preset angle based on the second target angle of the pitch joint and the limiting angle of the pitch joint.

4. The system according to claim 3, characterized in that, The second determining unit is further configured to: Determine the minimum difference between the second target angle of the target joint and the limiting angle of the target joint; The first range of motion is determined based on the minimum difference. Wherein, when the target joint is the yaw joint, the first range of motion is the maximum range of motion of the yaw joint; when the target joint is the pitch joint, the first range of motion is the maximum range of motion of the pitch joint.

5. The system according to any one of claims 1-4, characterized in that, The system also includes: The third determining module is used to determine the collision risk based on the second target angle of each joint corresponding to the first workspace and the pose of the adjacent positioned robotic arms. The fourth determining module is used to determine the second target angle of each joint corresponding to the first workspace with the lowest collision risk as the first target angle.

6. The system according to any one of claims 1-4, characterized in that, The first positioning module is also used for: Based on the first target angle of each joint corresponding to the first workspace and the current angle of each joint in the holding arm, the holding arm is controlled to be positioned.

7. The system according to any one of claims 1-4, characterized in that, The first determining module includes: The third determining unit is used to determine the first simulation model corresponding to the lesion area; The fourth determining unit is used to determine the preset workspace based on the distance between the distal point of the puncture card and the lesion area and the size information of the first simulation model; the preset workspace includes the range of motion of the end of the holding arm when the lateral joint and the pitch joint in the holding arm are in the corresponding preset range of motion.

8. The system according to claim 7, characterized in that, The first simulation model is an ellipsoid; the fourth determining unit is further used for: Determine the target ratio between the target axis length of the ellipsoid in the target direction and the distance; The second motion range is determined based on the arctangent function of the target ratio; 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 the axis length of the ellipsoid in the first direction, and the target angle threshold is the preset range of motion 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 range of motion of the pitch joint.

9. The system according to claim 7, characterized in that, After controlling the positioning of the robotic arm according to the first target angle of each joint of the robotic arm corresponding to the first workspace, the system further includes: The fifth determining module is used to determine the second simulation model of the lesion area and update the preset workspace according to the second simulation model.

10. The system according to claim 9, characterized in that, The second simulation model is a sphere; the fifth determining module further includes: The fifth determining unit is used to determine the diameter of the second simulation model based on the first position information of the distal point of the puncture card in the first holding arm and the second position information of the distal point of the puncture card in the second holding arm; the first holding arm and the second holding arm are the holding arms used in the intraoperative operation; The sixth determining unit is used to update the preset workspace according to the diameter.

11. The system according to claim 10, characterized in that, The sixth determining unit is further configured to: Determine a first ratio between half the diameter and the distance, and update the preset range of motion of the yaw joint according to the arctangent function of the first ratio; A second ratio between the diameter and the distance is determined, and the preset range of motion of the pitch joint is updated according to the arctangent function of the second ratio.

12. The system according to claim 10, characterized in that, The system also includes: The sixth determining module is used to obtain the current angle of each joint in the holding arm and calculate the first target pose through the positive motion of the holding arm.

13. The system according to any one of claims 1-4, characterized in that, The system also includes: The seventh determining module is used to determine the third position information of the distal point of the puncture card and the fourth position information of the lesion area in the suspension plate coordinate system based on the current angle of each joint in the holding arm when the lesion area is located at the center of the endoscope's field of view; the suspension plate coordinate system is determined based on the position of the suspension plate of the surgical robot. The eighth determining module is used to determine the first target pose of the holding arm based on the third position information and the fourth position information; the first target pose is the pose information where the third position information of the distal point of the puncture card remains unchanged and the axial direction of the puncture card points to the lesion area.

14. The system according to claim 13, characterized in that, The eighth determining module includes: The seventh determining unit is used to determine the target attitude information based on the third position information and the fourth position information; The eighth determining unit is used to determine the first target pose of the robotic arm based on the third position information and the target pose information.

15. The system according to claim 14, characterized in that, The seventh determining unit is further configured to: Based on the third and fourth position information, a first direction vector is determined pointing from the centroid of the puncture card to the lesion area; Determine the second direction vector and the third direction vector that are orthogonal to the first direction vector; The target attitude information is determined based on the first direction vector, the second direction vector, and the third direction vector.

16. The system according to claim 13, characterized in that, The seventh determining module is also used for: The current angle of each joint in the holding arm is obtained, and the third position information of the telecentric point of the stamp card in the suspension plate coordinate system is calculated through the positive motion of the holding arm.

17. The system according to claim 13, characterized in that, The seventh determining module is also used for: The current angles of each joint in the endoscope-holding arm are obtained, and the fifth position information of the endoscope tip in the suspension plate coordinate system is calculated through the positive motion of the endoscope-holding arm. The fourth position information is determined based on the fifth position information and the sixth position information of the lesion area in the endoscopic coordinate system.

18. The system according to claim 13, characterized in that, The system also includes: The second positioning module is used to position the robotic arm according to the first target pose.

19. The system according to claim 18, characterized in that, The second positioning module is also used for: Based on the first target pose, the inverse kinematics of the holding arm is calculated, and if there is an inverse solution in the inverse kinematics calculation, the target angle of each joint in the holding arm is determined. Based on the current angle and target angle of each joint in the robotic arm, the first motion trajectory of the robotic arm is determined; The robotic arm is positioned according to the first motion trajectory.

20. The system according to claim 13, characterized in that, The system also includes: The eighth determining module is used 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 the input operation; The third positioning module is used to position the surgical robot according to the surgical site and the installation positioning mode in response to the enable signal.

21. A method for positioning a surgical robot, characterized in that, The method includes: A preset workspace is determined at the end of the surgical robot's robotic arm. The preset workspace is the minimum space required for the instrument connected to the robotic arm to operate on the lesion area. The robotic arm includes a yaw joint and a pitch joint. The first workspace includes the range of motion of the end of the robotic arm when the yaw joint and the pitch joint are at their respective maximum ranges of motion. Based on multiple first preset angles of redundant joints in the surgical robot's holding arm, a first working space at the end of the holding arm is determined when the first target pose of the puncture card in the holding arm remains unchanged. The first working space is larger than the preset working space. The positioning of the robotic arm is controlled according to the first target angle of each joint of the robotic arm corresponding to the first workspace. Based on the position information of the distal point of the card and the position information of the device, a third vector and a fourth vector are determined, and the second included angle between the third vector and the fourth vector is taken as the maximum range of motion of the pitch joint; the third vector is the vector between the distal point and the device when the pitch joint is at the corresponding upper limit value, and the fourth vector is the vector between the distal point and the device when the pitch joint is at the corresponding lower limit value.

22. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 21.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method of claim 21.

24. A surgical robot system, characterized in that, The surgical robot system includes the positioning system of the surgical robot as described in any one of claims 1-20.

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