Control method of surgical robot system

Abstract

The invention discloses a control method of a surgical robot system. The method comprises the following steps: acquiring a current working mode of the surgical robot system; the surgical robot system comprises a first surgical robot and a second surgical robot, the tail end of the first surgical robot is used for being connected with the second surgical robot, and the tail end of the second surgical robot is used for being connected with a surgical tool; and controlling the first surgical robot and / or the second surgical robot based on the current working mode.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a control method for a surgical robot system. Background Art

[0002] During surgery, the assistance of a guiding tool is often required. Robots are applied to the assistance of such surgeries due to their precise positioning ability to simplify the surgical process, reduce the surgical time, and shorten the learning curve of surgeons. In robot-assisted surgery, a surgical tool can be connected to the robot, and medical staff move the robot to make the surgical tool reach the designated surgical area and control the robot to operate within the surgical area. Summary of the Invention

[0003] In a first aspect, an embodiment of the present disclosure provides a control method for a surgical robot system. The method includes: obtaining the current working mode of the surgical robot system; the surgical robot system includes a first surgical robot and a second surgical robot, the end of the first surgical robot is used to connect the second surgical robot, and the end of the second surgical robot is used to connect a surgical tool; controlling the first surgical robot and / or the second surgical robot based on the current working mode.

[0004] In a second aspect, an embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in any embodiment of the present disclosure is implemented.

[0005] In a third aspect, an embodiment of the present disclosure provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method described in any embodiment of the present disclosure is implemented.

[0006] In the embodiments of the present disclosure, the surgical robot system includes a first surgical robot and a second surgical robot, and the surgical tool is connected to the second surgical robot. During surgery, the first surgical robot and / or the second surgical robot can be automatically controlled according to the current working mode of the surgical robot system, so that the control method of the surgical robot system matches the current working mode of the surgical robot system.

[0007] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure. Brief Description of the Drawings

[0008] The accompanying drawings herein are incorporated into the specification and constitute a part of the present disclosure. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to explain the technical solutions of the present disclosure.

[0009] Figure 1 It is a schematic diagram of the bone cutting plane required for total knee arthroplasty in an embodiment of the present disclosure.

[0010] Figure 2 It is a schematic diagram of the surgical robot system in an embodiment of the present disclosure.

[0011] Figure 3A It is a schematic structural diagram of the first surgical robot and the second surgical robot in an embodiment of the present disclosure.

[0012] Figure 3B It is a schematic structural diagram of the first surgical robot and the second surgical robot in another embodiment of the present disclosure.

[0013] Figure 4 It is a schematic diagram of the first joint module in an embodiment of the present disclosure.

[0014] Figure 5 It is a schematic diagram of the second joint module in an embodiment of the present disclosure.

[0015] Figure 6 It is a flowchart of the control method of the surgical robot system in an embodiment of the present disclosure.

[0016] Figure 7 It is a flowchart of the implementation process of gravity compensation in an embodiment of the present disclosure.

[0017] Figure 8 It is a flowchart of the implementation process of the virtual wall in an embodiment of the present disclosure.

[0018] Figure 9 It is a flowchart of the interactive force perception process in an embodiment of the present disclosure.

[0019] Figure 10 It is a flowchart of the speed control process in an embodiment of the present disclosure.

[0020] Figure 11 It is the overall flowchart of an embodiment of the present disclosure.

[0021] Figure 12 It is a schematic diagram of the computer device in an embodiment of the present disclosure. Detailed Description of the Invention

[0022] Here, exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0023] The terms used in this disclosure are for the purpose of describing particular embodiments only and are not intended to limit the disclosure. The singular forms "a", "the", and "said" used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. Additionally, the term "at least one" as used herein means any one of a plurality or any combination of at least two of a plurality.

[0024] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0025] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of this disclosure and make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more obvious and understandable, the technical solutions in the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings.

[0026] Traditional orthopedic surgeries (such as hip and knee joint replacements) and oral surgeries (such as dental implantations and mandibular osteotomies) and other surgeries require the assistance of a variety of guiding tools, with complex processes, long time consumption, and a heavy burden on surgeons. Robots are applied to assist in such surgeries due to their precise positioning capabilities to simplify the surgical process, reduce the surgical time, and shorten the learning curve of surgeons.

[0027] For example, total knee arthroplasty is one of the typical orthopedic surgeries. As Figure 1 , total knee arthroplasty requires cutting the damaged bone mass at multiple cutting planes 13 at the distal end of the femur 11 and the proximal end of the tibia 12, and drilling prosthesis installation holes 14 on the cutting planes 13. In traditional surgeries, surgeons manually operate surgical tools (such as bone saws, bone drills, and other cutting guiding tools) to complete the bone preparation before installing the prosthesis. In robot-assisted surgeries, after the external positioning navigation system is registered with the robot itself and the patient's bone model, it guides the precise movement of the robot to move / limit the surgical tool to the target surgical space planned preoperatively for operation. Compared with the manual operation of most surgeons, robot-assisted surgeries can achieve better postoperative effects, such as better bilateral symmetry and more stable lower limb force lines.

[0028] During the surgical operation, under the guidance of an external positioning and navigation system, the robot controls the plane where the surgical tool is located to coincide with the cutting plane 13 of the patient and maintains this coincidence in real time with high stiffness. Then, under the mechanical constraint of the planar mechanism, the surgeon moves the robot within the plane, thereby driving the surgical tool to perform cutting. This solution has a simple structure, eliminating the fixation operation between the cutting guide block and the bone in traditional surgeries, simplifying the surgical process and shortening the surgical time. However, the overall weight of some robots is relatively heavy, and a relatively large force needs to be applied to move and control the robot, which is likely to increase the fatigue of medical staff and also likely to reduce the operation accuracy and flexibility of the surgical tool.

[0029] Based on this, an embodiment of the present disclosure provides a surgical robot system 20. Refer to Figure 2 , the surgical robot system 20 includes a first surgical robot 21 and a second surgical robot 22; the second surgical robot 22 is connected to the end of the first surgical robot 21, and the end of the second surgical robot 22 is used to connect the surgical tool 30. Among them, the positioning stiffness of the first surgical robot 21 is higher than that of the second surgical robot 22, and the force required to drive the second surgical robot 22 is less than the force required to drive the first surgical robot 21. The force applied to the surgical robot system 20 can drive the second surgical robot 22 and the surgical tool 30 to move. When the second surgical robot 22 moves, it can drive the first surgical robot 21 to follow the movement of the second surgical robot 22.

[0030] Since the positioning stiffness of the first surgical robot 21 is higher than that of the second surgical robot 22, therefore, compared with the second surgical robot 22, the first surgical robot 21 is less likely to generate displacement under the drive of an external force, thus having higher control accuracy. In addition, since the force required to drive the second surgical robot 22 is less than the force required to drive the first surgical robot 21, therefore, during the surgical operation, medical staff can drag the surgical tool 30 with a relatively small force. The surgical tool 30 drives the second surgical robot 22, and the first surgical robot 21 will automatically follow the movement of the second surgical robot 22 without the user applying additional force to drive. Therefore, the force required to drive the surgical robot system 20 is reduced, thereby reducing the fatigue of medical staff during the surgical process and improving the operation accuracy and flexibility of the surgical tool 30, thus improving the human-machine interaction experience. The specific details of the solution of the embodiment of the present disclosure are illustrated below.

[0031] Before, during, and after surgery, medical staff (or users) can apply forces (also referred to as acting forces or driving forces) to the surgical robot system 20. The force applied by the user is the acting force received by the entire surgical robot system 20, and this acting force can be applied to the surgical tool 30, or to the second surgical robot 22 or the first surgical robot 21. In a specific application scenario, the user can apply an acting force to the surgical tool 30. Since the surgical tool 30 is connected to the end of the second surgical robot 22, the acting force applied to the surgical tool 30 will be transmitted to the second surgical robot 22, causing the second surgical robot 22 to move in the target surgical space. Further, since the second surgical robot 22 is connected to the end of the first surgical robot 21, the movement of the second surgical robot 22 can be transmitted to the first surgical robot 21, causing the first surgical robot 21 to automatically follow the movement of the second surgical robot 22. Herein, the movement ranges of the first surgical robot 21 and the second surgical robot 22 are both sufficient to cover the entire target surgical space.

[0032] See Figure 3A and Figure 3B , the first surgical robot 21 includes a plurality of first joint modules 211. The plurality of first joint modules 211 can be interconnected by a first link 212. The movement of the first surgical robot 21 includes the movement of the plurality of first joint modules 211, that is, the overall movement of the first surgical robot 21 can be achieved by controlling the movement of each first joint module 211. Further, the overall movement of the first surgical robot 21 can be achieved by the movement of the plurality of first joint modules 211 and the first link 212 therebetween. For example, each first joint module 211 can rotate, thereby driving the first link 212 connected to this first joint module 211 to rotate. Also for example, the first link 212 can be telescopic. When the first link 212 extends, the first joint modules 211 connected by this first link 212 move away from each other; when the first link 212 shortens, the first joint modules 211 connected by this first link 212 move closer to each other.

[0033] Since the second surgical robot 22 is connected to the end of the first surgical robot 21 and the surgical tool 30 is connected to the end of the second surgical robot 22, the overall movement of the first surgical robot 21 can be achieved by controlling the movement of each first joint module 211, thereby being able to drive the second surgical robot 22 to move, and further being able to drive the surgical tool 30 to move relative to the target surgical space. For example, before the surgery, the surgical tool 30 can be brought closer to the target surgical space by controlling the movement of each first joint module 211; after the surgery is completed, the surgical tool 30 can be moved away from the target surgical space by controlling the movement of each first joint module 211.

[0034] DuringFigure 3A In the illustrated embodiment, multiple first joint modules 211 are connected in series. Connecting in series means connecting multiple first joint modules 211 in sequence so that they are successively subjected to the same input driving force or control signal. This connection method enables multiple first joint modules 211 to work together and transmit the input force or motion step by step. In Figure 3B the illustrated embodiment, multiple first joint modules 211 are connected in parallel. Connecting in parallel means connecting multiple first joint modules 211 together through a common connection point S. The multiple first joint modules 211 connected in parallel can be driven by external forces to move respectively and transmit the motions to their common connection point S. Among them, the connection point S can be one of the multiple first joint modules 211.

[0035] In some embodiments, the first surgical robot 21 can be installed on a mobile trolley or beside the operating table. Continuing to refer to Figure 3A and Figure 3B , the first surgical robot 21 further includes a first base 213. The first base 213 is connected to the ends of the multiple first joint modules 211 that are not connected to the second surgical robot 22. The first base 213 can be installed on a mobile trolley or beside the operating table. As Figure 3A shown, in the case where the multiple first joint modules 211 are connected in series, the first surgical robot 21 can include one first base 213. As Figure 3B shown, in the case where the multiple first joint modules 211 are connected in parallel, the first surgical robot 21 can include multiple first bases 213, and the multiple first bases 213 can be respectively installed on a mobile trolley or beside the operating table.

[0036] It should be noted that Figure 3B shows the case where multiple first joint modules 211 form two parallel branches. In practical applications, multiple first joint modules 211 can also form more than two parallel branches, and each parallel branch includes a first base 213.

[0037] Continuing to refer to Figure 3A and Figure 3B, the second surgical robot 22 includes a plurality of second joint modules 221. The plurality of second joint modules 221 can be interconnected by second linkages 222. The movement of the second surgical robot 22 includes the movement of the plurality of second joint modules 221, that is, the overall movement of the second surgical robot 22 can be achieved by controlling the movement of each second joint module 221, thereby driving the movement of the surgical tool 30. Further, the overall movement of the second surgical robot 22 can be achieved by the movement of the plurality of second joint modules 221 and the second linkages 222 therebetween. For example, each second joint module 221 can rotate, thereby driving the rotation of the second linkage 222 connected to the second joint module 221. For another example, the second linkage 222 can be telescopic. When the second linkage 222 extends, the second joint modules 221 connected by the second linkage 222 move away from each other; when the second linkage 222 shortens, the second joint modules 221 connected by the second linkage 222 move closer to each other. In some embodiments, the surgical tool 30 is detachably connected to the end of the second surgical robot 22. In this way, it is convenient to clean and replace the surgical tool 30.

[0038] When the plurality of first joint modules 211 are connected in series, the second surgical robot 22 is connected to the end of the series-connected plurality of first joint modules 211. When the plurality of first joint modules 211 are connected in parallel, the second surgical robot 22 is respectively connected to the ends of each of at least two groups of first joint modules 211 connected in parallel. As Figure 3B shown, at least two groups of first joint modules 211 connected in parallel are connected to the connection point S, then the second surgical robot 22 can be connected to the connection point S.

[0039] Continue to refer to Figure 3A and Figure 3B , the first surgical robot 21 and the second surgical robot 22 can be connected by a connecting member 31. Wherein, the connecting member 31 can be a linkage or other types of connecting members. In an embodiment where the first surgical robot 21 includes a plurality of first joint modules 211 and the second surgical robot 22 includes a plurality of second joint modules 221, at least one first joint module 211 can be connected to a second joint module 221 through the connecting member 31.

[0040] In some embodiments, the end of the second surgical robot 22 can at least translate in three-dimensional space, thereby driving the surgical tool 30 to translate in three-dimensional space. In other embodiments, the end of the second surgical robot 22 can at least translate in a plane, thereby driving the surgical tool 30 to translate in the plane. In other embodiments, the end of the second surgical robot 22 can both translate in three-dimensional space and translate in a plane, thereby being able to drive the surgical tool 30 to translate in three-dimensional space and drive the surgical tool 30 to translate in the plane. In this way, it is possible to complete surgeries that require the surgical tool 30 to translate in three-dimensional space (for example, unicompartmental knee arthroplasty), and it is also possible to complete surgeries that require the surgical tool 30 to translate in a plane (for example, total knee arthroplasty), improving the scope of application of the surgical robot system 20.

[0041] In some embodiments, the first surgical robot 21 has active degrees of freedom, and the first surgical robot 21 can move in these active degrees of freedom. Among them, the active degrees of freedom can include some or all of the six degrees of freedom, and the six degrees of freedom include the translational degrees of freedom corresponding to the three coordinate axes of the three-dimensional space coordinate system and the rotational degrees of freedom around the three coordinate axes (i.e., roll angle, pitch angle, yaw angle). The first surgical robot 21 having active degrees of freedom means that the first surgical robot 21 can perform autonomous movement under the drive of its own power mechanism (such as a motor) to change its own pose. Further, the first surgical robot 21 also has passive degrees of freedom other than the active degrees of freedom, and the first surgical robot 21 can move in the passive degrees of freedom under the drive of the force applied to the surgical robot system 20. For example, the active degrees of freedom can include the translational degrees of freedom corresponding to the three coordinate axes of the three-dimensional space coordinate system, and the passive degrees of freedom can include the rotational degrees of freedom around the three coordinate axes of the three-dimensional space coordinate system. Or, the active degrees of freedom can include the rotational degrees of freedom around the three coordinate axes, and the passive degrees of freedom can include the translational degrees of freedom corresponding to the three coordinate axes. The active degrees of freedom of the first surgical robot 21 can align the acting entity of the surgical tool 30 (such as the saw blade of a bone saw, the cutter head of a bone milling cutter, the drill bit of a bone drill, etc.) with the target surgical space and maintain this alignment in real time. The target surgical space can be a planned and specified knee joint osteotomy plane, a unicompartmental knee joint removal area, a dental alveolar drilling axis, etc.

[0042] In some embodiments, the passive degrees of freedom of the first surgical robot 21 are lockable. For example, each first joint module 211 of the first surgical robot 21 may include a locking mechanism, and the locking mechanism includes, but is not limited to, types such as gears, pins, buckles, etc. The locking mechanism may include a locked state and an unlocked state. By controlling the locking mechanism of at least one first joint module 211 to be in the locked state, the passive degrees of freedom of the first surgical robot 21 can be locked.

[0043] In an embodiment where the first surgical robot 21 includes a first motor 2111, the active degrees of freedom of the first surgical robot 21 can be driven by the first motor 2111. In an embodiment where the first surgical robot 21 includes a first motor 2111 and a first speed reducer 2112, the active degrees of freedom of the first surgical robot 21 can also be driven by the reduced first rotational speed after the first speed reducer 2112 reduces the first rotational speed of the first motor 2111 based on the first reduction ratio. Among them, by driving the first surgical robot 21 to move in the active degrees of freedom with the reduced first rotational speed, the first motor 2111 can output a greater torque by reducing its rotational speed. Since the weight of the first surgical robot 21 is usually relatively heavy and a larger torque is required to drive it, in this way, the situation where the first surgical robot 21 cannot be driven due to insufficient torque output by the first motor 2111 can be reduced. When the torque output by the first motor 2111 is sufficient to drive the first surgical robot 21, the first surgical robot 21 can also be directly driven by the first motor 2111 to move in its active degrees of freedom.

[0044] In the case where the first surgical robot includes a resistance controllable mechanism, the active degrees of freedom can also be driven by the passive degrees of freedom of the first surgical robot 21 and the resistance controllable mechanism. The resistance controllable mechanism refers to a mechanism that can adjust its damping or resistance through a control system. The resistance controllable mechanism can drive the first surgical robot 21 to move in its active degrees of freedom based on changes in magnetic fields, electric fields, or air pressures, etc. The resistance controllable mechanism can be, for example, a damper, such as an electromagnetic damper, an electric damper, a friction damper, etc.

[0045] In some embodiments, the second surgical robot 22 has at least one of active degrees of freedom and passive degrees of freedom. When the second surgical robot 22 has active degrees of freedom, the second surgical robot 22 can move in the active degrees of freedom. For example, the end of the second surgical robot 22 can perform six-degree-of-freedom movement in three-dimensional space. When the second surgical robot 22 has passive degrees of freedom, the second surgical robot 22 can move in the passive degrees of freedom under the drive of the force applied to the surgical robot system 20. In particular, when the second surgical robot 22 only has passive degrees of freedom and no active degrees of freedom, the second surgical robot 22 is a completely passive mechanism. Among them, the completely passive mechanism may include an elastic component, such as a spring or a flexible member. In this case, a force can be artificially applied to the second surgical robot 22 to cause the elastic component to deform, thereby driving the second surgical robot 22 to move in the passive degrees of freedom.

[0046] The end of the second surgical robot 22 can at least translate in three-dimensional space, and it can be that the end of the second surgical robot 22 can at least autonomously translate in three-dimensional space. That is, the second surgical robot 22 has active degrees of freedom, and the second surgical robot 22 moves in the above-mentioned active degrees of freedom so that its end can autonomously translate in three-dimensional space. Or, the end of the second surgical robot 22 can at least translate in three-dimensional space, and it can be that the second surgical robot 22 has passive degrees of freedom, and the second surgical robot 22 can move in the above-mentioned passive degrees of freedom under the action of an external force (such as a force artificially applied) so that its end can autonomously translate in three-dimensional space. Or, the end of the second surgical robot 22 can at least translate in three-dimensional space, and it can also be that the end of the second surgical robot 22 can at least autonomously translate in a plane and can translate in a direction perpendicular to the plane under the drive of the first surgical robot 21.

[0047] In some embodiments, the surgical robot system 20 further includes a sensor, and the sensor may include a force sensor or a torque sensor for sensing the force applied to the surgical robot system 20. Among them, the sensor can be installed between the first surgical robot 21 and the second surgical robot 22, or can be installed between the second surgical robot 22 and the surgical tool 30. Sensors can also be installed at both of the above two positions.

[0048] The sensor can be used to sense the components of the force applied to the surgical robot system 20 that are outside the active degrees of freedom of the second surgical robot 22. If the sensor itself can sense the interaction forces of all degrees of freedom, the components of the force applied to the surgical robot system 20 on the active degrees of freedom of the second surgical robot 22 will not be collected. For example, if the second surgical robot 22 (e.g., a delta robot) only allows translational motion in three-dimensional space, the sensor is used to sense the components of the force applied to the surgical robot system 20 in the directions around the coordinate axes; if the second surgical robot 22 only allows motion in a plane, the sensor is used to sense the components of the force applied to the surgical robot system 20 outside the plane.

[0049] See Figure 9 , the second surgical robot 22 itself can sense the components of the force applied to the surgical robot system 20 on its active degrees of freedom. Specifically, the second surgical robot 22 has a balanced pose (e.g., the delta robot is in its original position). When the externally applied interaction force causes the second surgical robot 22 to deviate from this balanced pose, the offset between the current pose of the second surgical robot 22 and the balanced pose can be obtained through the motor encoder of the second surgical robot 22. There is a mapping relationship between the magnitude and direction of the components of the force applied to the surgical robot system 20 on its active degrees of freedom and the offset. Based on this mapping relationship, the above offset can be mapped to the components of the force applied to the surgical robot system 20 on its active degrees of freedom.

[0050] Since the force / torque sensor senses the interaction force based on the principle that an external force causes a small deformation of the internal elastic body, and its original signal must be amplified sufficiently, its resolution and signal-to-noise ratio are relatively low. Compared with using only the force / torque sensor, since the offset of the second surgical robot 22 from its equilibrium position is much larger than the small deformation of the above elastic body, and the offset can be obtained through the encoder signal with extremely high signal-to-noise ratio, the present disclosure can achieve higher resolution and signal-to-noise ratio on the degrees of freedom allowed by the second surgical robot 22 (i.e., the above active degrees of freedom).

[0051] Furthermore, compared with the method of using only the force / torque sensor, the present disclosure can achieve lower interaction impedance on the degrees of freedom allowed by the second surgical robot 22. For example, if the second surgical robot 22 is a delta robot, the overall surgical robot system 20 has a lower interaction impedance for translational motion in three-dimensional space, while the interaction for changing the orientation is sensed by the force / torque sensor and has a higher impedance; when dragging the entire surgical robot system 20 in free space, translational motion is usually the dominant motion, while the motion for changing the orientation is less significant, so the above anisotropic arrangement of impedance is reasonable.

[0052] After obtaining the force applied to the surgical robot system 20, the movement speed of the first surgical robot 21 can be controlled based on this force. Specifically, a mapping relationship between the movement speed of the first surgical robot 21 and the force applied to the surgical robot system 20 can be established in advance. Based on this mapping relationship, the force applied to the surgical robot system 20 is converted into the movement speed of the first surgical robot 21, and the first surgical robot 21 is controlled to move at this movement speed.

[0053] In some embodiments, the surgical robot system 20 includes at least one working mode. The surgical robot system 20 can be controlled to be in different working modes according to actual needs. For example, the at least one working mode can include a first working mode. When the current working mode of the surgical robot system 20 is the first working mode, the first surgical robot 21 moves following the second surgical robot 22. For another example, the at least one working mode can include a second working mode. When the current working mode of the surgical robot system 20 is the second working mode, the second surgical robot 22 is in a balanced position, and the first surgical robot 21 automatically adjusts its pose to drive the second surgical robot 22 to adjust its pose and further drive the surgical tool 30 to reach the designated pose. For another example, the at least one working mode can include a third working mode. When the current working mode of the surgical robot system 20 is the third working mode, the surgical tool 30 performs a surgical operation under the action of the force applied to the surgical robot system 20.

[0054] When the current working mode is the first working mode, a control instruction can be generated based on the force applied to the surgical robot system 20. The first surgical robot 21 can move following the second surgical robot 22 under the control of this control instruction. Among them, the force applied to the surgical robot system 20 includes a first component of the second surgical robot 22 in the active degrees of freedom and a second component of the second surgical robot 22 in the passive degrees of freedom. The control instruction can be generated based on the above first component and second component.

[0055] Specifically, the pose offset between the current pose of the second surgical robot 22 and the balanced pose of the second surgical robot 22 can be obtained, and this pose offset is mapped onto the active degrees of freedom of the second surgical robot 22 to obtain the first component of the second surgical robot 22 in the active degrees of freedom. In the example where the surgical robot system 20 includes a sensor, the second component of the second surgical robot 22 in the passive degrees of freedom can be sensed by the sensor. A first control instruction for the first surgical robot 21 can be generated based on the first component, and a second control instruction for the first surgical robot 21 can be generated based on the second component. By combining the first control instruction and the second control instruction, the control instruction for the first surgical robot 21 is obtained.

[0056] See Figure 4, each of the multiple first joint modules 211 includes a first motor 2111 and a first speed reducer 2112 connected to the first motor 2111. The first motor 2111 is configured to rotate at a first rotational speed under the drive of the force applied to the surgical robot system 20, and the first speed reducer 2112 is configured to decelerate the first rotational speed based on the first reduction ratio, and the decelerated first rotational speed is used to drive the movement of the first joint module 211. Among them, the first rotational speed of the first motor 2111 may be positively correlated with the magnitude of the force applied to the surgical robot system 20. The greater the force applied to the surgical robot system 20, the faster the first rotational speed of the first motor 2111, and vice versa. A mapping relationship between the force applied to the surgical robot system 20 and the first rotational speed of the first motor 2111 may be established in advance, and based on this mapping relationship, the force applied to the surgical robot system 20 may be converted into the first rotational speed of the first motor 2111, and the first motor 2111 may be controlled to rotate at this first rotational speed.

[0057] The first speed reducer 2112 can decelerate the first rotational speed of the first motor 2111 based on the first reduction ratio. Assume that the first rotational speed of the first motor 2111 is R and the first reduction ratio is k1, then the first rotational speed after deceleration by the first speed reducer 2112 is R / k1. The decelerated first rotational speed can be used to control the movement speed of the first joint module 211. The movement speed of the first joint module 211 may be positively correlated with the decelerated first rotational speed. The faster the decelerated first rotational speed, the faster the movement speed of the first joint module 211, and vice versa. The weight of the first surgical robot 21 is usually relatively large. By using the first speed reducer 2112 to decelerate the first rotational speed of the first motor 2111, the output rotational speed of the first motor 2111 can be reduced, and the output torque of the first motor 2111 can be increased, so that the first motor 2111 can output sufficient torque to drive the movement of the first surgical robot 21. In some embodiments, it is difficult for the output end of the first speed reducer 2112 itself to be reversely driven by an external force, where reverse drive is opposite to forward drive, and forward drive means that the first motor 2111 drives the first speed reducer 2112 to drive the output end to move.

[0058] Through the above method, a relatively small force can be mapped into the first rotational speed of the first motor 2111, and after being decelerated by the first speed reducer 2112, it is used to control the movement speed of the first surgical robot 21. In this way, the user does not need to directly apply a force to move the relatively heavy first surgical robot 21. On the one hand, the magnitude of the driving force required to drive the movement of the first surgical robot 21 is reduced; on the other hand, there is no need to design a high reverse-drive joint for the first surgical robot 21 to facilitate its movement, reducing the design complexity and cost of the first surgical robot 21.

[0059] Continue to refer to Figure 4, each of the plurality of first joint modules 211 further includes a joint encoder 2113 for reading first motion information of the first joint module 211, where the first motion information is motion information of the first joint module 211 driven at a first rotational speed after deceleration. The read first motion information is used to feedback to the first surgical robot 21 to control the motion of the first surgical robot 21. Among them, the first motion information of the first joint module 211 may be position information or speed information of the first joint module 211. By using the joint encoder 2113, the first motion information of the first joint module 211 can be accurately read, thereby controlling the motion of the first surgical robot 21.

[0060] Continue to refer to Figure 4 , each of the plurality of first joint modules 211 further includes a first motor encoder 2114 for reading first reference motion information of the first joint module 211. The first reference motion information is motion information of the first joint module 211 driven at a first rotational speed and is used to verify the first motion information read by the joint encoder 2113. The first motor encoder 2114 can directly read the first reference motion information driven by the first rotational speed R of the first motor 2111. Taking the motion information as the motion speed as an example, assuming that the motion speed driven by the first rotational speed R of the first motor 2111 (i.e., the above first reference motion information) is v1, and the motion speed driven by the first rotational speed R / k1 after deceleration is v2, then v2 can be verified based on v1. Theoretically, v1 should be equal to k*v2. If the ratio of v1 to v2 is close to k1, it indicates that the verification is successful, and it can be considered that the first motion information read by the joint encoder 2113 is reliable; otherwise, the verification fails, and it can be considered that the first motion information read by the joint encoder 2113 is unreliable.

[0061] Refer to Figure 5, each of the multiple second joint modules 221 includes a second motor 2211 and a second speed reducer 2212 connected to the second motor 2211. The second motor 2211 is configured to rotate at a second speed under the drive of the force applied to the surgical robot system 20, and the second speed reducer 2212 is configured to decelerate the second speed based on a second reduction ratio. The decelerated second speed is used to drive the second joint module 221 to move. Wherein, the second speed of the second motor 2211 may be positively correlated with the magnitude of the force applied to the surgical robot system 20. The greater the force applied to the surgical robot system 20, the faster the second speed of the second motor 2211, and vice versa. A mapping relationship between the force applied to the surgical robot system 20 and the second speed of the second motor 2211 may be established in advance. Based on this mapping relationship, the force applied to the surgical robot system 20 may be converted into the second speed of the second motor 2211, and the second motor 2211 may be controlled to move at this second speed. The second speed reducer 2212 may decelerate the second speed of the second motor 2211 based on the second reduction ratio. Assuming that the second speed of the second motor 2211 is r and the second reduction ratio is k2, the second speed after deceleration by the second speed reducer 2212 is r / k2. The second speed may be converted into a current of the second joint module 221, and this current may generate a certain torque to drive the second joint module 221 to move.

[0062] Continue to refer to Figure 5 , each of the multiple second joint modules 221 further includes a second motor encoder 2213, configured to read second reference motion information of the second joint module 221. The read second reference motion information is the motion information of the second joint module 221 under the drive of the second speed. After being corrected based on the second reduction ratio, the second reference motion information is used to feedback to the second surgical robot 22 to control the motion of the second surgical robot 22. In this embodiment, only the second motor encoder 2213 is provided to obtain the second reference motion information. Since the second reduction ratio can be obtained in advance according to the mechanical characteristics of the second surgical robot 22, therefore, the second reference motion information may be directly converted into the decelerated second motion information according to the second reduction ratio and used to control the motion of the second surgical robot 22 without setting an additional joint encoder, reducing the hardware cost. At the same time, the weight of the second joint module 221 is reduced, thereby reducing the second driving force required to drive the second joint module 221.

[0063] In some embodiments, the first reduction ratio is greater than the second reduction ratio. Since the reduction ratio of the first surgical robot 21 is larger, it is more difficult for the first motor 2111 of the first surgical robot 21 to rotate under an external force, so that the first surgical robot 21 has the characteristic of high stiffness. Therefore, the first surgical robot 21 can also be referred to as a high-stiffness positioning robot (where positioning refers to determining the position and orientation of an object in space). Since the reduction ratio of the second surgical robot 22 is smaller, an externally applied driving force can more easily rotate the second motor 2211 of the second surgical robot 22, so that the second surgical robot 22 has the characteristic of high backdrivability. Therefore, the second surgical robot 22 can also be referred to as a high-backdrivability interaction robot, and the second surgical robot 22 can be easily dragged by hand. Optionally, the first reducer 2112 can be implemented by using a reducer with a large reduction ratio such as a harmonic reducer or a cycloid pinwheel reducer, and the second reducer 2212 can be implemented by using a reducer with a small reduction ratio such as a planetary gear reducer or a cable drive reducer.

[0064] In some embodiments, the second reference motion information read by the second motor encoder 2213 is further used to determine the joint angle of the second joint module 221, and this joint angle is used to perform gravity compensation on the second surgical robot 22 itself and the surgical tool 30. Gravity compensation means that in a mechanical system, control is used to offset the influence of gravity on the system. Due to the influence of gravity, when medical staff operate the second surgical robot 22, an additional force needs to be applied to keep the second joint module 221 in the position required for the operation. By performing gravity compensation, the second surgical robot 22 itself can output a certain torque to keep the second joint module 221 in the position required for the operation. When medical staff operate the second surgical robot 22, there is no need to apply an additional force to offset the influence of gravity, thereby further reducing the force required to drive the second joint module 221.

[0065] See Figure 8, the second reference motion information read by the second motor encoder 2213 is used to limit the motion range of the surgical tool 30 driven by the second surgical robot 22 beyond the pre-planned motion range. Based on the second reference motion information, the motion range of the surgical tool 30 is limited in this embodiment, which can avoid accidental collisions between the surgical tool 30 and the patient's body, thereby improving the safety during the operation. For example, the position of the surgical tool 30 can be determined based on the second reference motion information, and the distance between the position and the boundary of the pre-planned motion range can be determined. If the position of the surgical tool 30 does not exceed the boundary of the motion range (when the position of the surgical tool 30 does not exceed the boundary of the motion range, the above distance can be recorded as a value less than 0, otherwise, the above distance is recorded as a value greater than 0), a control force less than the preset control force threshold can be output. For example, the preset control force threshold can be 0, that is, when the position of the surgical tool 30 does not exceed the boundary of the motion range, no control force is output. If the position of the surgical tool 30 exceeds the boundary of the motion range, a control force greater than or equal to the preset control force threshold and positively correlated with the distance can be output. In this way, when the surgical tool 30 is continuously dragged in the direction away from the boundary of the motion range, the user will feel an obvious resistance, generating a virtual wall effect. This is used to prevent the second surgical robot 22 from continuing to move in the direction that makes the surgical tool 30 move away from the boundary of the motion range.

[0066] In some embodiments, the control force is positively correlated with the distance, which can be that the control force is proportional to the distance, and the proportionality coefficient can be the wall stiffness. The boundary of the motion range can be determined according to the target surgical space. The surgical robot system 20 can be equipped with a surgical planning system for generating the target surgical space according to the virtual models of the patient's anatomical structure, the virtual model of the implant, and the virtual model of the surgical tool 30. The direction of the control force can be perpendicular to the boundary surface of the target surgical space.

[0067] When the second surgical robot 22 is a completely passive mechanism, the virtual wall function can be realized by the motion of the first surgical robot 21. The surgical tool 30 is fixedly connected to the completely passive mechanism, and its pose can be determined by the positioning and navigation system of the robot system 20. The completely passive mechanism has a balanced pose and includes a limiting mechanism. When an external force moves the surgical tool 30, the completely passive mechanism deviates from the balanced pose. The offset of the completely passive mechanism from the balanced pose can be obtained through the readings of the encoders configured for each passive degree of freedom. According to this offset, the compensation speed at the end of the first surgical robot 21, that is, the motion speed of the base of the completely passive mechanism, can be determined. The closer the surgical tool 30 is to the boundary of the target surgical space (i.e., the boundary of the motion range), the compensation speed makes the completely passive mechanism closer to the limiting position defined by its limiting mechanism, thereby preventing the surgical tool 30 from exceeding the boundary of the motion range.

[0068] In some embodiments, the surgical robot system 20 further includes a navigation system for guiding the movement of the first surgical robot 21 and / or the second surgical robot 22. Among them, the navigation system includes an optical navigation system, an electromagnetic navigation system, and / or a visual navigation system, etc. Specifically, the surgical robot system 20 as a whole can be driven by applying a force to the surgical robot system 20, so as to drive the surgical tool 30 to move near the target surgical space. Then, the first surgical robot 21 can be controlled to move automatically to finely adjust the pose of the surgical tool 30. During the fine adjustment process, the navigation system can obtain the current position and the target position of the surgical tool 30, and plan a movement path based on the current position and the target position of the surgical tool 30. By controlling the first surgical robot 21 to move along this movement path, the surgical tool 30 can finally reach the specified surgical position. Before planning the movement path, the navigation system can also register the poses of the first surgical robot 21, the second surgical robot 22, and the surgical tool 30 connected thereto, the pose of the patient's real anatomical structure, and the virtual model of the patient's anatomical structure in the same coordinate system. Then, in this coordinate system, the current poses of the first surgical robot 21, the second surgical robot 22, and the surgical tool 30 connected thereto, as well as the current pose of the patient's real anatomical structure are determined in real time. According to the current poses of the first surgical robot 21, the second surgical robot 22, and the surgical tool 30 connected thereto, and the current pose of the patient's real anatomical structure, a movement path is planned to guide the first surgical robot 21 and / or the second surgical robot 22 to move manually or automatically.

[0069] In some embodiments, the surgical robot system 20 further includes a display device for displaying the surgical information of the surgery performed by the surgical robot system 20. Among them, the surgical information may include, but is not limited to, some or all of the following: the three-dimensional model of the surgical tool 30, the virtual model of the patient's anatomical structure (for example, it can be obtained based on the pre-operative CT), the virtual model of the implant to be implanted into the patient, the boundary of the movement range of the surgical tool 30, the real-time pose of the surgical tool 30, etc.

[0070] In some embodiments, the surgical robot system 20 further includes a human-computer interaction device, which may include types such as a touch screen and physical buttons, and is used to configure the configuration information of the surgical robot system 20. Among them, the configuration information of the surgical robot system 20 includes, but is not limited to, some or all of the following: the impedance of the entire surgical robot system 20, which is related to the dragging feel experienced by the user when dragging the entire surgical robot system 20. The greater the impedance, the greater the impedance felt by the user when dragging the entire surgical robot system 20. The above impedance may include virtual mass, virtual spring stiffness (and its equilibrium pose), and virtual damping. The user can adjust the configuration information of the surgical robot system 20 according to their own preferences and store the adjusted configuration information in their personal account.

[0071] Based on the surgical robot system 20 of the above embodiment, the present disclosure embodiment also provides a control method for the surgical robot system 20. Refer to Figure 6 , the control method includes:

[0072] Step S1: Obtain the current working mode of the surgical robot system 20;

[0073] Step S2: Control the first surgical robot 21 and / or the second surgical robot 22 based on the current working mode.

[0074] The current working mode of the surgical robot system 20 can be set by the user himself. In some embodiments, the surgical robot system 20 includes a human-computer interaction device, and the user can input a mode selection instruction through the human-computer interaction device, and the surgical robot system 20 can determine the current working mode in response to the mode selection instruction. The current working mode is illustrated below.

[0075] In some embodiments, the current working mode includes a first working mode. In the first working mode, the first surgical robot 21 follows the movement of the second surgical robot 22. The first working mode can also be called the free dragging mode. In the first working mode, medical staff can freely drag the surgical tool 30 in six degrees of freedom in space, such as bringing the surgical tool closer to the target surgical space before cutting or moving away from the patient's body after cutting. The force applied to the surgical tool 30 can drive the movement of the second surgical robot 22, so that the first surgical robot 21 follows the movement of the second surgical robot 22.

[0076] When the surgical robot system 20 is in the first working mode, in order to reduce the force required to drive the entire surgical robot system 20, gravity compensation can be performed on the second surgical robot 22. Refer to Figure 7, the joint angles of multiple second joint modules 221 of the second surgical robot 22 can be obtained. Among them, the joint angles of the second joint module 221 can be determined based on the readings of the second motor encoders 2213 in the second joint module 221. According to the joint angles of the multiple second joint modules 221 and the gravity compensation model, the joint torques of the multiple second joint modules 221 can be obtained. The gravity compensation model can be determined based on information such as the gravity of the surgical tool 30, the centroid coordinates, and the joint angles, movement speeds, and movement accelerations of the second joint modules 221. Different surgical tools 30 have different gravities and centroid coordinates, which can be obtained through calibration and stored in advance for subsequent rapid reading. Then, a torque command can be sent to the second motor 2211 of the second surgical robot 22 to control the second motor 2211 to output the joint torque, thereby compensating for the gravity of the second surgical robot 22 itself and the surgical tool 30. Among them, the magnitude of the joint torque of the second joint module 221 can be equal to the torque generated by gravity, and the direction can be opposite to the torque generated by gravity. By performing gravity compensation, the torque generated by gravity can be balanced, enabling the second surgical robot 22 to maintain balance during operation, so that there is no need to artificially input additional forces to eliminate the influence of gravity.

[0077] In some embodiments, the second surgical robot 22 has active degrees of freedom and passive degrees of freedom. When the surgical robot system 20 is in the first working mode, the force applied to the surgical robot system 20 can be obtained, a control command for the first surgical robot 21 can be generated based on the force applied to the surgical robot system 20, and the first surgical robot 21 can be controlled to move following the second surgical robot 22 based on the control command. In this way, the user only needs to apply a small force to drive the second surgical robot 22 to move, and the first surgical robot 21 can automatically move following the second surgical robot 22, and the user does not need to apply a large force to drive the first surgical robot 21 to move, reducing the force applied by the user.

[0078] See Figure 10 , the force applied to the surgical robot system 20 includes a first component of the second surgical robot 22 on the active degrees of freedom of the second surgical robot 22 and a second component of the second surgical robot 22 on the passive degrees of freedom of the second surgical robot 22. A control command for the first surgical robot 21 can be generated based on the first component and the second component. Specifically, a first control command for the first surgical robot 21 can be generated based on the first component, a second control command for the first surgical robot 21 can be generated based on the second component, and the first control command and the second control command can be combined to obtain the control command for the first surgical robot 21.

[0079] See Figure 9, the second surgical robot 22 has a balanced pose, and an externally applied force causes the second surgical robot 22 to deviate from its balanced pose. The pose offset between the current pose of the second surgical robot 22 and the balanced pose is obtained through the second motor encoder 2213 of the second surgical robot 22. Mapping this pose offset to the active degrees of freedom of the second surgical robot 22 can obtain the first component of the second surgical robot 22 in the active degrees of freedom. In addition, the surgical robot system further includes sensors for sensing the force applied to the surgical robot system 20. The second component of the second surgical robot 22 in the passive degrees of freedom of the second surgical robot 22 can be sensed by the sensors.

[0080] In some embodiments, the control instruction is used to control the first surgical robot 21 to move in a direction that causes the second surgical robot 22 to return to the balanced position. For example, assuming that when the second surgical robot 22 is in its balanced position, the relative distance between the second surgical robot 22 and the first surgical robot 21 is d, then when the second surgical robot 22 moves to the left relative to its balanced position, the first surgical robot 21 also moves to the left following the second surgical robot 22 so that the relative distance between the second surgical robot 22 and the first surgical robot 21 returns to d, thereby causing the second surgical robot 22 to return to its balanced position.

[0081] In embodiments where the second surgical robot 22 includes a plurality of second joint modules 221, when the current working mode is the first working mode, the second surgical robot 22 can be controlled to guide the surgical tool 30 to move within a preset motion range. Specifically, the joint angles of the plurality of second joint modules 221 can be obtained, and based on the joint angles of the plurality of second joint modules 221 and the kinematic model of the second surgical robot 22, the position of the surgical tool 30 can be determined. The distance between the position of the surgical tool 30 and the boundary of the preset motion range is obtained, and a control force is output based on this distance to prevent the surgical tool 30 from moving in a direction close to the boundary. The kinematic model is a mathematical model for studying the motion of an object and can be used to describe the relationship between the position, velocity, acceleration, and time of the second surgical robot 22.

[0082] For example, if the position of the surgical tool 30 does not exceed the boundary of the motion range, a control force less than a preset control force threshold can be output. Wherein, the preset control force threshold can be 0, that is, when the surgical tool 30 does not exceed the boundary of the motion range, no control force is output. If the position of the surgical tool 30 exceeds the boundary of the motion range, a control force greater than or equal to the preset control force threshold and positively correlated with the distance can be output. In this way, when the user drags the surgical tool 30 away from the boundary of the motion range, an obvious resistance can be felt, and the farther the surgical tool 30 is from the boundary of the motion range, the greater the resistance felt by the user. In this way, it can prompt and guide the user to drag the surgical tool 30 within the boundary of the motion range as much as possible.

[0083] In other embodiments, other methods can also be used to output the control force. For example, when the surgical tool 30 does not exceed the boundary of the motion range, if the distance between the surgical tool 30 and the boundary of the motion range is less than a first distance threshold, a force inversely correlated with the above distance is output. In this way, during the process when the surgical tool 30 approaches the boundary of the motion range, the user will feel a certain resistance, thereby prompting the user that the surgical tool 30 is currently approaching the limit position that can be reached. When the surgical tool 30 exceeds the boundary of the motion range, if the distance between the surgical tool 30 and the boundary of the motion range is greater than a second distance threshold, a force positively correlated with the above distance is output. In this way, the farther the surgical tool 30 is from the boundary of the motion range, the greater the resistance felt by the user.

[0084] In some embodiments, the surgical robot system 20 further includes a display device. The boundary between the surgical tool 30 and the motion range can be rendered on the display device based on the above distance, so that the user can directly observe the relative position relationship between the current position of the surgical tool 30 and the boundary of the motion range through the display device.

[0085] When the current working mode is the first working mode, the surgical tool 30 can also be controlled to be disabled. When in the first working mode, the surgical robot system 20 is in motion as a whole. Controlling the surgical tool 30 to be disabled can improve the safety during the control of the first surgical robot 21 and the second surgical robot 22.

[0086] In some embodiments, the current working mode includes a second working mode. In the second working mode, the second surgical robot 22 is in a balanced position, and the first surgical robot 21 automatically adjusts its pose to drive the second surgical robot 22 to adjust its pose and further drive the surgical tool 30 to reach a specified pose. After the second surgical robot 22 returns to its balanced pose, the second joint module 221 of the second surgical robot 22 can be locked using position control. If the second joint module 221 of the second surgical robot 22 includes a second motor 2211, the second motor 2211 can operate in a position control mode, that is, control the torque of the second motor 2211 through an open-loop or closed-loop control method to drive the second surgical robot 22 to a specified target position. If the second joint module 221 is an active degree of freedom composed of a passive degree of freedom and a resistance controllable mechanism similar to a "magnetic powder clutch", the second joint module 221 can be powered off to lock the second joint module 221. After the second joint module 221 is locked, the second surgical robot 22 and the surgical tool 30 can be regarded as a rigid body, and the surgical robot system 20 can perform path planning on the rigid body composed of the second surgical robot 22 and the surgical tool 30, and move the rigid body composed of the second surgical robot 22 and the surgical tool 30 to a target pose (i.e., the specified pose) through the first surgical robot 21. The target pose enables the movement range of the second surgical robot 22 to sufficiently cover the target surgical space.

[0087] After the surgical tool 30 reaches the specified pose, the first surgical robot 21 can also be controlled to maintain its current pose so that the surgical tool 30 maintains the specified pose. Specifically, the first surgical robot 21 can be controlled to maintain its current pose through software or hardware means.

[0088] When the first surgical robot 21 is controlled to maintain its current pose through hardware means, a limiting mechanism can be included on the first joint module 211 of the first surgical robot 21. After the surgical tool 30 reaches the specified pose, the first surgical robot 21 can maintain its current pose through the limiting mechanism. Maintaining the pose of the first surgical robot 21 through hardware does not require complex software control logic, reducing the control complexity of the system.

[0089] When the first surgical robot 21 is controlled to maintain its current pose through software means, the pose of the first surgical robot 21 can be detected. If the pose difference between the detected pose and the pose of the first surgical robot 21 when the surgical tool 30 is in the specified pose is greater than a preset threshold, the pose of the first surgical robot 21 is adjusted. Maintaining the pose of the first surgical robot 21 through software can reduce the hardware cost and the overall weight of the surgical robot system 20.

[0090] When the current working mode is the second working mode, for safety considerations, the surgical tool 30 can also be controlled to be disabled.

[0091] In some embodiments, the current working mode includes a third working mode. In the third working mode, the surgical tool 30 performs a surgical operation under the action of a force applied to the surgical robot system 20. The third working mode is also referred to as an assisted cutting mode. In the third working mode, the surgical tool 30 can be controlled to be enabled. Specifically, the surgical tool 30 can be powered on so that the surgical tool 30 can be used to start a surgical operation.

[0092] In an embodiment where the second surgical robot 22 includes a plurality of second joint modules 221, when the current working mode is the third working mode, the joint angles of the plurality of second joint modules 221 can be obtained. The joint torques of the plurality of second joint modules 221 can be obtained according to the joint angles of the plurality of second joint modules 221 and the gravity compensation model, and the second surgical robot 22 is controlled to output the joint torques to perform gravity compensation on the surgical tool 30. For the specific details of the gravity compensation process, see the foregoing embodiments and will not be elaborated here.

[0093] See Figure 8 , in an embodiment where the second surgical robot 22 includes a plurality of second joint modules 221, when the current working mode is the third working mode, the joint angles of the plurality of second joint modules 221 can be obtained. According to the joint angles of the plurality of second joint modules 221 and the kinematic model of the second surgical robot 22, the position of the surgical tool 30 is determined, the distance between the position of the surgical tool 30 and the boundary of the preset motion range is obtained, and a control force is output based on the distance. The control force is used to prevent the surgical tool 30 from moving in the direction close to the boundary of the motion range. Among them, the joint angles of the second joint module 221 can be obtained based on the readings of the motor encoders in the second joint module 221. The above function is called the virtual wall function. For the specific details of the virtual wall function, see the foregoing embodiments and will not be elaborated here.

[0094] In some embodiments, the current pose of the first surgical robot 21 can also be obtained, the current pose of the first surgical robot 21 is subjected to singularity detection, and the current pose of the first surgical robot 21 is adjusted based on the singularity detection result. Singularity detection refers to a technique in robot kinematics for identifying and avoiding the robot joint configuration being at a singularity point. A singularity point refers to a situation where the robot joints are at a specific position and pose, resulting in difficulties or unsolvable problems in kinematics. Singularity points may lead to unstable motion, abnormal operation, and safety problems. By performing singularity detection, the safety and stability of the surgical robot system 20 can be improved.

[0095] In some embodiments, the current poses of the first surgical robot 21 and / or the second surgical robot 22 can also be obtained, collision detection is performed on the surgical tool 30 based on the current poses of the first surgical robot 21 and / or the second surgical robot 22, and the current poses of the first surgical robot 21 and / or the second surgical robot 22 are adjusted based on the collision detection results. By performing collision detection, it is possible to prevent the surgical tool 30 from colliding with the bodies of the first surgical robot 21 and / or the second surgical robot 22 and the patient's body parts, thereby improving the surgical safety and the safety of the surgical robot system 20.

[0096] Figure 11 The overall flowchart of the embodiments of the present disclosure is shown. The software function modules of the surgical robot system 20 may include a surgical planning system, a positioning and navigation system, an interactive force sensing module, an admittance control module, a gravity compensation module, a rendering module, and a trajectory generation and tracking module. The hardware part of the surgical robot system 20 may include a force / torque sensor, a first surgical robot 21, and a second surgical robot 22.

[0097] In the free drag mode (i.e., the first working mode), the doctor can freely drag the body of the surgical robot system 20, such as bringing the surgical tool close to the target surgical space before cutting, or moving away from the patient's body after cutting is completed. This mode mainly enables the gravity compensation module, the interactive force sensing module, and the admittance control module. This mode can also enable the virtual wall rendering module. Among them, the gravity compensation module is used to achieve gravity compensation, the interactive force sensing module is used to sense the force applied to the surgical robot system 20, the admittance control module is used to control the first surgical robot 21 to follow the movement of the second surgical robot 22, and the virtual wall rendering module is used to render the boundary of the movement range of the surgical tool 30 and the real-time position of the surgical tool 30 to prevent accidental collision of the surgical tool with the body of the surgical robot system 20 or the patient's body.

[0098] In the automatic positioning mode (i.e., the second working mode), the high-backdrive interactive robot returns to its equilibrium pose and locks its joints using position control. The surgical planning system can obtain virtual models of the patient's anatomical structure, the implant, and the surgical tool 30, which are used to determine the target surgical space. The positioning and navigation system can mark the positions of the surgical tool, the patient's anatomical structure, and the first surgical robot 21, and generate a desired motion path based on the information of the target surgical space and the marked surgical tool, patient's anatomical structure, and first surgical robot 21, and send this motion path to the trajectory generation and tracking module. The trajectory generation and tracking module moves the second surgical robot 22 and the surgical tool 30 to the target pose specified by the surgical planning system according to the motion path planned by the positioning and navigation system. The target pose enables the motion range of the second surgical robot 22 to sufficiently cover the target surgical space. After the movement is completed, the first surgical robot 21 maintains this pose in real time.

[0099] After the automatic positioning mode is completed, it enters the assisted cutting mode (i.e., the third working mode). In the assisted cutting mode, the gravity compensation module compensates for the gravity of the surgical tool 30, enabling the doctor to easily drag the surgical tool 30 to remove bone mass within the target surgical space; meanwhile, a virtual wall is used to restrict the surgical tool 30 from exceeding the boundary of the target surgical space.

[0100] In addition, the motion speed of the first surgical robot 21 can be corrected by the singularity detection module and the collision detection module to prevent the pose of the first surgical robot 21 from entering a singularity point, and to prevent the surgical tool 30 from colliding with the bodies of the first surgical robot 21, the second surgical robot 22, and the patient's body.

[0101] The surgical robot system 20 and its control method according to the embodiments of the present disclosure have the following advantages:

[0102] (1) During the interaction between the user and the surgical robot system 20, the user only needs to additionally drag the second surgical robot 22 with low inertia, rather than dragging the entire first surgical robot 21 with large inertia, achieving a better human-machine interaction experience.

[0103] (2) There is no need to specifically design multiple high-backdrive joints for the first surgical robot 21, nor to deploy force / torque sensors at each joint of the first surgical robot 21. It is only necessary to design the second surgical robot 22 and directly use a commercially available robotic arm without joint torque sensors as the first surgical robot 21, achieving lower research and development and maintenance costs.

[0104] (3) It can improve the matching degree between the motion range of the surgical robot system 20 and the target surgical space, and correct the target plane positioning error caused by the first surgical robot 21: The motion range of the first surgical robot 21 can cover all target surgical spaces, but is much larger than the current target surgical space, while the motion range of the second surgical robot 22 can be comparable to the target surgical space (the motion range of the second surgical robot 22 is a subset of the motion range of the first surgical robot 21), with a small error amplification effect and higher surgical accuracy achieved.

[0105] (4) Since the joints of the first surgical robot 21 do not need components such as ropes and joint torque sensors that reduce the transmission stiffness, a higher positioning accuracy of the target surgical space can be obtained. The first surgical robot 21 adopts a first joint module 211 with a large reduction ratio. For example, a joint module with a harmonic reducer has a relatively high positioning stiffness.

[0106] (5) By adopting the second surgical robot 22 with maneuverable degrees of freedom that can move in three-dimensional space according to the present disclosure, it can be at least compatible with total knee arthroplasty and unicompartmental knee arthroplasty.

[0107] (6) It can compensate for the gravity of the surgical tool 30 and limit the surgical tool 30 from exceeding the target surgical space through a virtual wall, reducing the physical and mental burden of the doctor and the risk of damage to the healthy tissues of the patient.

[0108] (7) Based on the offset of the second surgical robot 22 relative to its equilibrium position, the overall force received by the surgical robot system 20 is sensed. Since the above-mentioned offset is much larger than the tiny deformation of the elastomer of the force / torque sensor, and the offset can be obtained through the encoder signal with extremely high signal-to-noise ratio, compared with the method of sensing the force by using a force / torque sensor, the present disclosure can achieve higher resolution and signal-to-noise ratio in the degrees of freedom allowed by the second surgical robot 22.

[0109] An embodiment of the present disclosure also provides a computer device, which at least includes a memory, a processor, and a computer program stored on the memory and executable on the processor. Wherein, when the processor executes the program, it implements the method described in any one of the foregoing embodiments.

[0110] Figure 12 Figure 19 shows a more specific schematic diagram of the hardware structure of a computing device provided by an embodiment of the present disclosure. The device may include: a processor 1202, a memory 1204, an input / output interface 1206, a communication interface 1208, and a bus 1210. Among them, the processor 1202, the memory 1204, the input / output interface 1206, and the communication interface 1208 are communicatively connected to each other inside the device through the bus 1210.

[0111] The processor 1202 can be implemented in the form of a general - purpose central processing unit (CPU), a microprocessor, an application - specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present disclosure. The processor 1202 can also include a graphics card, and the graphics card can be an Nvidia titan X graphics card or a 1080Ti graphics card, etc.

[0112] The memory 1204 can be implemented in the form of a read - only memory (ROM), a random - access memory (RAM), a static storage device, a dynamic storage device, etc. The memory 1204 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of the present disclosure through software or firmware, the relevant program codes are stored in the memory 1204 and are called and executed by the processor 1202.

[0113] The input / output interface 1206 is used to connect to the input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0114] The communication interface 1208 is used to connect to the communication module (not shown in the figure) to realize the communication interaction between this device and other devices. Among them, the communication module can communicate in a wired manner (such as USB, network cable, etc.) or can communicate in a wireless manner (such as a mobile network, WIFI, Bluetooth, etc.).

[0115] The bus 1210 includes a path for transmitting information between various components of the device (such as the processor 1202, the memory 1204, the input / output interface 1206, and the communication interface 1208).

[0116] It should be noted that although the above - mentioned device only shows the processor 1202, the memory 1204, the input / output interface 1206, the communication interface 1208, and the bus 1210, in the specific implementation process, this device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above - mentioned device can also only include the components necessary to implement the solution of the embodiments of the present disclosure, and does not necessarily include all the components shown in the figure.

[0117] Embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in any of the foregoing embodiments is implemented.

[0118] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0119] From the description of the above embodiments, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions of the embodiments of the present disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments of the present disclosure.

[0120] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by a computer device or entity, or by a product with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0121] Each embodiment in the present disclosure is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, they are described relatively simply, and for the relevant parts, reference can be made to the partial descriptions of the method embodiments. The device embodiments described above are merely illustrative, and the modules described as separate components may or may not be physically separated. When implementing the solutions of the embodiments of the present disclosure, the functions of the modules can be implemented in one or more software and / or hardware. It is also possible to select some or all of the modules according to actual needs to achieve the purpose of the solutions of this embodiment. Those of ordinary skill in the art can understand and implement without creative efforts.

[0122] The above is only the specific implementation manners of the embodiments of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the principles of the embodiments of the present disclosure, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the embodiments of the present disclosure.

Claims

1. A control method for a surgical robot system, characterized in that, The method includes: Obtaining the current working mode of the surgical robot system; the surgical robot system includes a first surgical robot and a second surgical robot, the end of the first surgical robot is used to connect the second surgical robot, and the end of the second surgical robot is used to connect the surgical tool; Controlling the first surgical robot and / or the second surgical robot based on the current working mode.

2. The method according to claim 1, wherein The current working mode includes a first working mode. When the current working mode is the first working mode, the first surgical robot moves following the second surgical robot.

3. The method according to claim 2, wherein The second surgical robot has active degrees of freedom and passive degrees of freedom; when the current working mode is the first working mode, the controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: Obtaining the force applied to the surgical robot system; Generating a control instruction for the first surgical robot based on the force applied to the surgical robot system; Controlling the first surgical robot to move following the second surgical robot based on the control instruction.

4. The method according to claim 3, wherein The force applied to the surgical robot system includes a first component of the second surgical robot in the active degrees of freedom and a second component of the second surgical robot in the passive degrees of freedom; The generating the control instruction for the first surgical robot based on the force applied to the surgical robot system includes: Generating the control instruction for the first surgical robot based on the first component and the second component.

5. The method according to claim 4, characterized in that, The obtaining the force applied to the surgical robot system includes: Obtaining the pose offset between the current pose and the equilibrium pose of the second surgical robot; Mapping the pose offset to the active degrees of freedom to obtain the first component of the second surgical robot in the active degrees of freedom.

6. The method according to claim 4, wherein The surgical robot system further includes a sensor for sensing the force applied to the surgical robot system; The obtaining the force applied to the surgical robot system includes: Obtaining the second component of the second surgical robot in the passive degrees of freedom sensed by the sensor.

7. The method according to claim 4, characterized in that, The generating the control instruction for the first surgical robot based on the first component and the second component includes: Generating a first control instruction for the first surgical robot based on the first component; Generating a second control instruction for the first surgical robot based on the second component; Combining the first control instruction and the second control instruction to obtain the control instruction for the first surgical robot.

8. The method according to claim 3, characterized in that, The control instruction is used to control the first surgical robot to move in the direction that makes the second surgical robot return to the equilibrium position.

9. The method according to claim 2, characterized in that, The second surgical robot includes a plurality of second joint modules; When the current working mode is the first working mode, the controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: Obtaining the joint angles of the plurality of second joint modules; Obtain the joint torques of the plurality of second joint modules according to the joint angles of the plurality of second joint modules and the gravity compensation model; Control the second surgical robot to output the joint torques to perform gravity compensation on the surgical tool.

10. The method according to claim 2, wherein The second surgical robot includes a plurality of second joint modules; When the current working mode is the first working mode, controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: Obtain the joint angles of the plurality of second joint modules; Determine the position of the surgical tool according to the joint angles of the plurality of second joint modules and the kinematic model of the second surgical robot; Obtain the distance between the position of the surgical tool and the boundary of the preset motion range; Output a control force based on the distance, and the control force is used to prevent the surgical tool from moving in the direction close to the boundary.

11. The method according to claim 10, characterized in that, Outputting the control force based on the distance includes: If the position of the surgical tool does not exceed the boundary of the motion range, output a control force less than the preset control force threshold; If the position of the surgical tool exceeds the boundary of the motion range, output a control force greater than or equal to the preset control force threshold and positively correlated with the distance.

12. The method according to claim 10, characterized in that, The surgical robot system further includes a display device; the method further includes: Render the surgical tool and the boundary on the display device based on the distance.

13. The method according to claim 2, characterized in that, When the current working mode is the first working mode, the method further includes: Control the surgical tool to be disabled.

14. The method according to claim 1, wherein The current working mode includes a second working mode. In the second working mode, the second surgical robot is in a balanced position, and the first surgical robot automatically adjusts its pose to drive the second surgical robot to adjust its pose and further drive the surgical tool to reach the specified pose.

15. The method according to claim 14, wherein The second surgical robot includes a plurality of second joint modules; controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: When the current working mode is the second working mode, control the plurality of second joint modules to be in a locked state.

16. The method according to claim 14, wherein Controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: After the surgical tool reaches the specified pose, control the first surgical robot to maintain its current pose so that the surgical tool maintains the specified pose.

17. The method according to claim 16, wherein The first surgical robot includes a plurality of first joint modules, and a limit mechanism is included on the first joint module; after the surgical tool reaches the specified pose, the first surgical robot maintains its current pose through the limit mechanism.

18. The method according to claim 16, wherein Controlling the first surgical robot to maintain its current pose includes: Detect the pose of the first surgical robot; If the pose difference between the detected pose and the pose of the first surgical robot when the surgical tool is in the specified pose is greater than the preset threshold, adjust the pose of the first surgical robot.

19. The method according to claim 14, characterized in that, When the current working mode is the second working mode, the method further includes: Control the surgical tool to be disabled.

20. The method according to claim 1, wherein The current working mode includes a third working mode. In the third working mode, the surgical tool performs surgical operations under the action of a force applied to the surgical robot system.

21. The method according to claim 20, wherein The second surgical robot includes a plurality of second joint modules; When the current working mode is the third working mode, controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: Obtaining the joint angles of the plurality of second joint modules; Obtaining the joint torques of the plurality of second joint modules according to the joint angles of the plurality of second joint modules and a gravity compensation model; Controlling the second surgical robot to output the joint torques to perform gravity compensation on the surgical tool.

22. The method according to claim 21, wherein, The second surgical robot includes a plurality of second joint modules; When the current working mode is the third working mode, controlling the first surgical robot and / or the second surgical robot based on the current working mode includes: Obtaining the joint angles of the plurality of second joint modules; Determining the position of the surgical tool according to the joint angles of the plurality of second joint modules and the kinematic model of the second surgical robot; Obtaining the distance between the position of the surgical tool and the boundary of a preset motion range; Outputting a control force based on the distance, where the control force is used to prevent the surgical tool from moving in a direction close to the boundary.

23. The method according to claim 20, wherein When the current working mode is the third working mode, the method further includes: Controlling the surgical tool to be enabled.

24. The method according to claim 1, wherein The method further includes: Obtaining the current pose of the first surgical robot; Performing singularity detection on the current pose of the first surgical robot; Adjusting the current pose of the first surgical robot based on the singularity detection result.

25. The method according to claim 1, characterized in that The method further includes: Obtaining the current pose of the first surgical robot and / or the second surgical robot; Performing collision detection on the surgical tool based on the current pose of the first surgical robot and / or the second surgical robot; Adjusting the current pose of the first surgical robot and / or the second surgical robot based on the collision detection result.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method according to any one of claims 1 to 25.

27. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 25.

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