Image acquisition device motion control method, surgical robot, equipment and medium

Abstract

The invention relates to the technical field of surgical robots, and discloses an image acquisition device motion control method, a surgical robot, equipment and a medium. The image acquisition device motion control method comprises the following steps: determining a first control point and a second control point in a reference plane, and determining a first control vector pointing from the first control point to the second control point; the first control point synchronously follows the first identification point to move and reaches the first moving point, the second control point synchronously follows the second identification point to move and reaches the second moving point, and a second control vector pointing from the first moving point to the second moving point is determined; determining an included angle between the first control vector and the second control vector; and generating a motion instruction for controlling the image acquisition device to rotate according to the included angle. The control logic is simplified, the influence on the operation intention of a user is reduced, the operation comfort and smoothness are guaranteed, the possibility that the two input handles collide in the rotating process is reduced, and the operation safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a motion control method for an image acquisition device, a surgical robot, equipment, and a medium. Background Art

[0002] Surgical robots are widely used in the medical field. They consist of a surgeon's console and a patient operating platform. The surgeon's console includes a master trolley, an observation chamber, and a surgeon's operating arm. The patient operating platform consists of a slave trolley and a robotic arm. One end of the robotic arm is connected to the slave trolley, while the other end is used to mount surgical instruments or image acquisition devices. The patient lies on the operating table, and the user grips the input handles of the master arm. These handles control surgical instruments to perform surgical operations on the patient or control the movement of the image acquisition device to adjust the surgical field of view.

[0003] With reference to the contents disclosed in Chinese patent CN119279792A - Endoscope motion control method and surgical robot, when the user controls the movement of the endoscope through the main control arm, the relative position between the user's hands is limited by the motion constraint model, so that when the user grasps the input handle, it can translate or rotate like grasping two points on a steering wheel, thereby controlling the translation and rotation of the endoscope. If the user's hands move beyond the motion constraint model, a constraint force will be applied to the user's hands to return them to the motion constraint model. The control logic of the above scheme is complex, and at the same time, it limits the relative position of the user's hands, which increases the impact on the user's operating intention, reduces the comfort and smoothness of the operation, and easily causes fatigue to the user. Moreover, when the two input handles held by the user's hands are close to each other, the two input handles may collide during the rotation process, thereby affecting the safety of the operation.

[0004] Based on this, there is an urgent need for an image acquisition device motion control method, a surgical robot, equipment and a medium to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide a motion control method for an image acquisition device, a surgical robot, equipment and medium, which simplify the control logic, reduce the impact on the user's operating intention, ensure the comfort and smoothness of the operation, reduce the possibility of collision between the two input handles during rotation, and ensure the safety of the operation.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A motion control method for an image acquisition device, comprising:

[0008] In response to a received signal indicating entering a motion control state, determining, within a reference plane, a first control point D corresponding to a first identification point M on one master control arm and a second control point E corresponding to a second identification point N on the other master control arm, and determining a first control vector pointing from the first control point D to the second control point E;

[0009] The two master control arms move at a preset time interval so that the first control point D synchronously follows the first identification point M and reaches a first moving point F, and the second control point E synchronously follows the second identification point N and reaches a second moving point G, and a second control vector is determined that points from the first moving point F to the second moving point G, and the second control vector is located on the reference plane;

[0010] determining an angle θ between the first control vector and the second control vector;

[0011] generating a motion instruction for controlling the rotation of the image acquisition device according to the included angle θ;

[0012] Determine whether the signal for entering the motion control state stops. If so, leave the motion control state and end controlling the motion of the image acquisition device; otherwise, repeat the above steps.

[0013] As an optional technical solution to the motion control method of the image acquisition device, determining, within the reference plane, a first control point D corresponding to a first identification point M on one master control arm and a second control point E corresponding to a second identification point N on the other master control arm, specifically includes:

[0014] establishing an observation chamber coordinate system based on the observation chamber, and determining a reference plane within the observation chamber coordinate system;

[0015] Determining the first identification point M and the second identification point N in the observation chamber coordinate system;

[0016] Projecting the first identification point M and the second identification point N vertically onto the reference plane respectively to obtain a first conversion point A and a second conversion point B;

[0017] The first conversion point A is translated by a first distance L1 along one of the first direction and the second direction to obtain a first control point D, and the second conversion point B is translated by a second distance L2 along the other of the first direction and the second direction to obtain a second control point E, the first control point D and the second control point E do not overlap, L1 ≥ 0, L2 ≥ 0, and the first direction is opposite to the second direction.

[0018] As an optional technical solution to the motion control method of the image acquisition device, the method of translating the first conversion point A by a first distance L1 along one of the first direction and the second direction to obtain a first control point D, and translating the second conversion point B by a second distance L2 along the other of the first direction and the second direction to obtain a second control point E, specifically includes:

[0019] Determine whether the distance R1 between the first transition point A and the second transition point B is less than or equal to a first threshold Z1, and Z1>0;

[0020] If so, the first conversion point A is translated along the first direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the second direction by a second distance L2 to obtain a second control point E, so that the distance R2 between the first control point D and the second control point E is greater than or equal to R1.

[0021] As an optional technical solution for the motion control method of the image acquisition device, if R1≤Z1, R2=Z1.

[0022] As an optional technical solution of the motion control method of the image acquisition device, the method further includes: determining whether the distance R1 between the first transition point A and the second transition point B is less than or equal to the first threshold Z1; and then:

[0023] If not, the first conversion point A is translated along the second direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the first direction by a second distance L2 to obtain a second control point E, so that Z1<R2≤R1.

[0024] As an optional technical solution for the motion control method of the image acquisition device, if the above is not true, the first conversion point A is translated along the second direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the first direction by a second distance L2 to obtain a second control point E, and then it also includes: judging whether R1≤second threshold Z2 is true, Z1<Z2, if so, L1=L2=0; otherwise, L1>0, L2>0.

[0025] As an optional technical solution for the motion control method of the image acquisition device, if R1>Z2, R2=Z2.

[0026] As an optional technical solution for the motion control method of the image acquisition device, L1=L2.

[0027] As an optional technical solution for the motion control method of the image acquisition device, establishing the observation chamber coordinate system specifically includes:

[0028] The center of the observation chamber is the origin of the observation chamber coordinate system; and / or,

[0029] The X-axis direction of the observation chamber coordinate system is the left-right direction; and / or,

[0030] The Z-axis direction of the observation chamber coordinate system is the user's field of view or front-back direction.

[0031] As an optional technical solution of the motion control method of the image acquisition device, the first direction and the second direction are collinear with a line connecting the first conversion point A and the second conversion point B.

[0032] As an optional technical solution for the motion control method of the image acquisition device, the two master control arms are arranged along the X-axis direction of the observation warehouse coordinate system, the reference plane is parallel to the X-axis of the observation warehouse coordinate system, and one of the first direction and the second direction is the positive direction of the X-axis of the observation warehouse coordinate system, and the other is the negative direction of the X-axis.

[0033] As an optional technical solution to the motion control method of the image acquisition device, during the preset time interval during which the two master control arms move, the first identification point M moves to a third moving point H, and the second identification point N moves to a fourth moving point I. The third moving point H and the fourth moving point I are respectively vertically projected onto the reference plane to obtain a third transformation point J and a fourth transformation point K.

[0034] Before determining the angle θ between the first control vector and the second control vector, the method further includes:

[0035] whether the angle γ between the line connecting the first conversion point A and the second conversion point B and the Y-axis of the observation chamber coordinate system is greater than or equal to a first angle threshold q1, and the first angle threshold q1 is less than 45°; if so, proceed to the subsequent steps; otherwise, exit the motion control state and terminate the control of the motion of the image acquisition device;

[0036] Assume that the first conversion point A is located on the side of the second conversion point B facing the positive direction of the X-axis of the observation chamber coordinate system, determine whether the third conversion point J is located on the side of the fourth conversion point K facing the positive direction of the X-axis, and if so, proceed to the subsequent steps; otherwise, exit the motion control state and terminate the control of the motion of the image acquisition device;

[0037] Determine the decision vector from the fourth conversion point K to the third conversion point J The determination angle ω between the positive direction of the X-axis and the

[0038] Determine whether the determination angle ω ≥ the second angle threshold q2 is established, and the second angle threshold q2 is < 90°; if so, leave the motion control state and end the control of the motion of the image acquisition device; otherwise, proceed to subsequent steps.

[0039] As an optional technical solution of the motion control method of the image acquisition device, if the determination that the angle ω ≥ the second angle threshold q2 is established, the method further includes: issuing an alarm message.

[0040] As an optional technical solution of the motion control method of the image acquisition device, the determining of the first control vector pointing from the first control point D to the second control point E further includes: determining a virtual control point C, wherein the first identification point M, the second identification point N, and the virtual control point C satisfy a preset first positional relationship;

[0041] The two master control arms move at a preset time interval, the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I, a second positional relationship is determined based on the third moving point H, the fourth moving point I, and the first positional relationship, and a movement control point Q is determined based on the second positional relationship, the third moving point H, and the fourth moving point I;

[0042] Determine a motion vector from the virtual control point C to the mobile control point Q;

[0043] A motion instruction for controlling the movement of the image acquisition device is generated according to the motion vector.

[0044] As an optional technical solution of the motion control method of the image acquisition device, the reference plane is perpendicular to the user's field of view direction or the front-back direction.

[0045] A surgical robot includes an image acquisition device, two master control arms, and a control unit. The control unit is communicatively connected to the master control arms and the image acquisition device, respectively. The control unit is configured to control the movement of the image acquisition device based on the image acquisition device motion control method described above to adjust the surgical field of view.

[0046] The electronic device includes a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the above-mentioned image acquisition device motion control method.

[0047] A computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the steps of the image acquisition device motion control method described above.

[0048] Beneficial effects of the present invention:

[0049] The present invention provides an image acquisition device motion control method, surgical robot, equipment, and medium. The first control point D and the second control point E at both ends of the first control vector correspond to the initial positions of the user's hands, respectively. After the user's hands move, the first control point D and the second control point E follow the corresponding master control arms to move to the first moving point F and the second moving point G, respectively, to obtain the second control vector. That is, the first control vector follows the movement of the user's hands to reach the second control vector. By calculating the angle θ between the first control vector and the second control vector, and generating a motion command based on the above angle θ, the image acquisition device is controlled to rotate. The image acquisition device motion control method provided by the present invention has simple control logic. The rotation of the image acquisition device is controlled by calculating the angle θ between the first control vector corresponding to the position of the user's hands and the second control vector, making it more intuitive and easy for the user to control the rotation of the image acquisition device. At the same time, no constraint model is set to limit the position of the user's hands, which improves the comfort and smoothness of operation, reduces the impact on the user's operating intention, and reduces the user's fatigue. Moreover, when the two input handles held by the user's hands are close to each other, the relative positions of the two input handles will not be limited by the constraint model, thereby avoiding the possibility of collision between the two input handles during rotation, ensuring the smooth implementation of the operation, and improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the structure of the master control terminal provided in the first embodiment of the present invention;

[0051] Figure 2 is a schematic structural diagram of the operating terminal provided in the first embodiment of the present invention;

[0052] Figure 3 1 is a schematic structural diagram of a master control arm provided in the first embodiment of the present invention;

[0053] Figure 4 is a structural diagram of an image acquisition device provided in Embodiment 1 of the present invention;

[0054] Figure 5 is a flow chart of a motion control method for an image acquisition device provided in Embodiment 1 of the present invention;

[0055] Figure 6 is a detailed flow chart of the motion control method of the image acquisition device provided in the first embodiment of the present invention;

[0056] Figure 7 This is a right view of the master control terminal provided in the first embodiment of the present invention;

[0057] Figure 8 This is a schematic structural diagram of two master control arms provided by the first embodiment of the present invention from a first perspective;

[0058] Figure 9 This is a schematic structural diagram of two master control arms provided by the first embodiment of the present invention from a second perspective;

[0059] Figures 10(a) and (b) are schematic diagrams of solving the angle in the reference plane provided by the first embodiment of the present invention;

[0060] Figure 11 is a structural diagram of an electronic device provided in Embodiment 1 of the present invention;

[0061] Figure 12 is a detailed flow chart of the motion control method of the image acquisition device provided in the second embodiment of the present invention;

[0062] Figure 13 Schematic diagram of solving the angle in the reference plane provided by the second embodiment of the present invention;

[0063] Figure 14 is a detailed flow chart of the motion control method of the image acquisition device provided in the third embodiment of the present invention;

[0064] Figure 15 It is a structural schematic diagram of two master control arms provided in the third embodiment of the present invention.

[0065] In the picture:

[0066] 200, electronic device; 201, processor; 202, memory; 203, bus;

[0067] 10. Main control terminal; 20. Operation terminal; 30. Operating table;

[0068] 1. Image acquisition device; 11. Lens barrel; 12. Lens; 13. Grip;

[0069] 2. Master arm; 2a. First master arm; 2b. Second master arm; 21. Arm link assembly; 22. Input handle; 221. First link; 222. Second link; 223. Third link; 224. Grip; 225. Opening and closing assembly;

[0070] 3. Main trolley; 31. Base; 32. Column;

[0071] 4. Observation chamber; 41. Eyepiece; 5. Instrument holding arm; 6. Surgery trolley; 7. Surgical instruments. DETAILED DESCRIPTION

[0072] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0073] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0074] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0075] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0076] Example 1

[0077] like Figure 1-Figure 7 As shown, this embodiment provides a surgical robot, which includes a main control end 10 and an operating end 20. The main control end 10 is the doctor's console, which includes a main control arm 2, a main trolley 3 and an observation chamber 4. The observation chamber 4 is placed on the top of the main trolley 3, and the main control arm 2 is connected to the front side of the main trolley 3 and is located below the observation chamber 4. The main control arm 2 is the doctor's operating arm, which includes an arm link assembly 21 and an input handle 22. One end of the arm link assembly 21 is connected to the main trolley 3, and the input handle 22 is provided at the other end of the arm link assembly 21. Furthermore, the main trolley 3 includes a base 31 and a column 32. The column 32 extends in the vertical direction. The observation chamber 4 is connected to the top of the column 32, and the bottom of the column 32 is connected to the base 31. The main control arm 2 is connected to the front side of the column 32. There are two main control arms 2, and the two main control arms 2 are arranged along the left and right directions of the main trolley 3.

[0078] Specifically, the operating end 20 is the patient surgical platform, which includes a slave trolley 6 and a surgical arm 5. The slave trolley 6 is positioned on one side of the operating table 30. One end of the surgical arm 5 is connected to the slave trolley 6, and the other end is used to mount a surgical instrument 7 or an image acquisition device 1. In this embodiment, the image acquisition device 1 is an endoscope, specifically a three-dimensional electronic endoscope, which includes a lens barrel 11, a lens 12, and a handle 13. One axial end of the lens barrel 11 is connected to the handle 13, and the other end is provided with the lens 12. Typically, multiple surgical arms 5 are provided, with at least one carrying the image acquisition device 1, and the remaining surgical arms 5 carrying surgical instruments 7. The surgical instruments 7 are used to perform surgical procedures, and the image acquisition device 1 is used to capture images of the affected area or other parts of the body. The master control arm 2 is configured to control the movement of the surgical arm 5, thereby moving the image acquisition device 1 and surgical instruments 7 mounted at the end of the surgical arm 5.

[0079] During surgery, the patient lies on the operating table 30. When the master-slave control mode of the surgical robot is activated, the user grips the input handle 22 of the master control arm 2 and can control the movement of the instrument arm 5 through the input handle 22 of the master control arm 2, thereby controlling the surgical instrument 7 to perform surgical operations on the patient, or controlling the movement of the image acquisition device 1 to adjust the surgical field of view. The observation chamber 4 is used to display the images captured by the image acquisition device 1, and the image displayed on the observation chamber 4 can be translated or rotated in response to the user's operation. The principle of controlling the translation or rotation of the corresponding joints of the instrument arm 5 through the input handle 22 to achieve the desired position of the image acquisition device 1 and the surgical instrument 7 can be referred to in the prior art. This is not the focus of this embodiment and will not be further described here.

[0080] In this embodiment, the observation chamber 4 is an immersive display device. The observation chamber 4 is generally box-shaped, with an eyepiece 41 mounted on the front housing. When a user uses the observation chamber 4, they face the eyepiece 41 and observe the displayed image through it. The user's field of view is perpendicular to the eyepiece 41. When the user observes the displayed image through the eyepiece 41, they lower their head, meaning that the eyepiece 41 is parallel to the left and right directions and tilted with respect to the front-to-back and vertical directions.

[0081] It is worth noting that the descriptions of the directions such as front, back, left, and right mentioned in this embodiment are all based on the main control terminal 10 and the operating terminal 20 in normal use. The front and back directions and the left and right directions are both set horizontally, and the front and back directions are set perpendicular to the left and right directions. The user operating the main control terminal 10 is located at the front side of the main trolley 3, and the side of the main trolley 3 away from the user is the back side. The left and right directions of the main trolley 3 are the left and right directions of the user, and the height direction of the main trolley 3 is the vertical direction. The operating bed 30 is at the front side of the slave trolley 6, and the side of the slave trolley 6 away from the operating bed 30 is the back side. The left and right directions when the user is located at the front side of the slave trolley 6 and facing the slave trolley 6 are the left and right directions of the slave trolley 6, and the height direction of the slave trolley 6 is the vertical direction.

[0082] Among them, except for some structures of the surgical robot described in the previous and following texts, other structures of the surgical robot can refer to the existing technology and are not the focus of protection of this embodiment, so they will not be described here.

[0083] The surgical robot also includes a control unit, which is communicatively connected to the main control arm 2 and the image acquisition device 1 respectively. The control unit can control the movement of the image acquisition device 1 based on the image acquisition device motion control method to adjust the surgical field of view.

[0084] This embodiment also provides a method for controlling the motion of an image acquisition device, for controlling the motion of the image acquisition device 1. Specifically, Figure 1-Figure 1 0, the image acquisition device motion control method includes:

[0085] S1. In response to a received signal for entering a motion control state, a first control point D corresponding to a first identification point M on one master control arm 2 and a second control point E corresponding to a second identification point N on the other master control arm 2 are determined within a reference plane h, and a first control vector is determined from the first control point D to the second control point E.

[0086] S2. The two master control arms 2 move at a preset time interval so that the first control point D synchronously follows the first identification point M and reaches the first moving point F, and the second control point E synchronously follows the second identification point N and reaches the second moving point G. A second control vector is determined from the first moving point F to the second moving point G. Second control vector Located on the reference plane h;

[0087] S3. Determine the first control vector With the second control vector The angle θ between them;

[0088] S4. Generate a motion instruction for controlling the rotation of the image acquisition device 1 according to the angle θ;

[0089] S5. Determine whether the signal for entering the motion control state has stopped. If so, leave the motion control state and end controlling the motion of the image acquisition device 1; otherwise, repeat the above steps.

[0090] The motion control method of the image acquisition device provided in this embodiment includes the first control vector The first control point D and the second control point E at both ends correspond to the initial positions of the user's hands. After the user's hands move, the first control point D and the second control point E follow the corresponding master arm 2 to move to the first moving point F and the second moving point G, respectively, to obtain the second control vector The first control vector Following the movement of the user's hands, the second control vector is reached Calculate the first control vector With the second control vector The angle θ between the two hands is calculated, and a motion instruction is generated based on the angle θ, thereby controlling the rotation of the image acquisition device 1. The motion control method of the image acquisition device provided in this embodiment has a simple control logic; by calculating the first control vector corresponding to the position of the user's hands With the second control vector The included angle θ between the two input handles 22 is used to control the rotation of the image acquisition device 1, making it more intuitive and easy for the user to control the rotation of the image acquisition device 1. At the same time, no constraint model is provided for limiting the relative positions of the user's hands, thereby improving the comfort and smoothness of the operation, reducing the impact on the user's operating intention, and reducing the user's fatigue. Moreover, when the two input handles 22 held by the user's hands are close to each other, the relative positions of the two input handles 22 will not be limited by the constraint model, thereby avoiding the possibility of collision between the two input handles 22 during the rotation process, ensuring the smooth implementation of the operation, and improving the safety of the operation.

[0091] The surgical robot provided in this embodiment includes an image acquisition device 1, two master control arms 2 and a control unit. The control unit is used to control the movement of the image acquisition device 1 based on the image acquisition device motion control method described above to adjust the surgical field of view. The user is more intuitive and easy to use when controlling the rotation of the image acquisition device 1, which also improves the comfort and smoothness of the operation, reduces the impact on the user's operating intention, ensures the smooth implementation of the operation, and improves the safety of the operation.

[0092] The following is based on Figure 6 , the motion control method of the image acquisition device is further described in detail.

[0093] The image acquisition device motion control method includes:

[0094] S1. In response to the received signal for entering the motion control state, a first control point D corresponding to a first identification point M on one master control arm 2 and a second control point E corresponding to a second identification point N on the other master control arm 2 are determined in the reference plane h. At the same time, in this step, a first control vector is determined based on the first control point D and the second control point E. First control vector From the first control point D to the second control point E, the first control vector Located on the reference plane h.

[0095] Preferably, "in response to receiving a signal to enter the motion control state" specifically means that when the control unit receives a signal to enter the motion control state of the image acquisition device 1, the step of determining the first control point D and the second control point E is executed. That is, when the signal to enter the motion control state is received, the user can use the master arm 2 to control the movement of the image acquisition device 1.

[0096] Specifically, the base 31 is provided with several foot pedals, each of which is communicatively connected to the control unit. One of the foot pedals is configured to signal the entry of the image acquisition device 1 into the motion control state. When the user depresses the corresponding foot pedal for entering the motion control state of the image acquisition device 1, the foot pedal transmits a signal to the control unit, causing the surgical robot to enter the motion control state of the image acquisition device 1. The communication connection method and principles between the control unit and the foot pedals can be referenced in the prior art and are not the focus of this embodiment and will not be further elaborated here.

[0097] In other embodiments, a start switch may be provided. The control unit is communicatively connected to the start switch, and the start switch is configured to send a signal to enter the motion control state of the image acquisition device 1. When the user presses the start switch, the surgical robot enters the motion control state of the image acquisition device 1. The start switch may be provided on the input handle 22 or other structure, and is not limited here.

[0098] It can be understood that the description of "determining a certain point" in the previous or later text (for example, determining the first identification point M, the second identification point N, the first control point D, the second control point E, the first transformation point A, determining the first transformation point B, etc.) is to determine the specific coordinates of the point in the observation warehouse coordinate system.

[0099] Preferably, step S1 specifically includes:

[0100] S11. Establish an observation bin coordinate system based on the observation bin, and determine a reference plane h in the observation bin coordinate system.

[0101] Specifically, the center of the observation chamber 4 is the origin of the observation chamber coordinate system. The center of the observation chamber is the geometric center of the observation chamber 4. The X-axis of the observation chamber coordinate system is the left-right direction. The Z-axis of the observation chamber coordinate system is the user's field of view or the front-back direction. The X-axis, Y-axis, and Z-axis of the observation chamber coordinate system are mutually perpendicular. Figure 1 The coordinate system of the observation chamber is represented by C1. Figure 7 The user's field of view is represented by a dotted line t. The user's field of view corresponds to the axial direction of the lens barrel 11 of the endoscope.

[0102] In other embodiments, the geometric center of the eyepiece 41 or any point in the observation chamber 4 may be used as the origin of the observation chamber coordinate system, which is not limited here.

[0103] If the Z-axis of the observation chamber coordinate system corresponds to the user's field of view, the Y-axis of the observation chamber coordinate system is perpendicular to the left-right direction and inclined to the front-back direction and the vertical direction. In this case, the Z-axis of the observation chamber coordinate system corresponds to the axial direction of the endoscope barrel 11.

[0104] If the Z-axis direction of the observation chamber coordinate system is the front-to-back direction, then the Y-axis direction of the observation chamber coordinate system is the vertical direction.

[0105] In this embodiment, Figure 1 Also shown is the main trolley coordinate system, denoted as C2, which is established based on the main trolley 3. The origin of the main trolley coordinate system can be the geometric center of the main trolley 3, or other points, without specific limitation. The X-axis direction of the main trolley coordinate system is the left-right direction, the Y-axis direction of the main trolley coordinate system is the vertical direction, and the Z-axis direction of the main trolley coordinate system is the front-back direction.

[0106] As a preferred solution, the reference plane h is perpendicular to the user's field of view. Since the angle θ is subsequently calculated within the reference plane h, the above arrangement increases the intuitiveness of the user's control of the rotation of the image acquisition device 1 and enhances the user's immersion in controlling the rotation of the endoscope. Figure 7 In , the reference plane h is represented by a dot-dashed line.

[0107] In some embodiments, the reference plane h may also be perpendicular to the Z axis, which simplifies the calculation process of projecting each point onto the reference plane h in subsequent steps.

[0108] S12: Determine a first identification point M and a second identification point N in the observation chamber coordinate system. The first identification point M and the second identification point N are located on the two master control arms 2 respectively.

[0109] Specifically, if Figure 8As shown, the two master arms 2 are the first master arm 2a and the second master arm 2b. A first identification point M is located on the input handle 22 of the first master arm 2a, and a second identification point N is located on the input handle 22 of the second master arm 2b. During surgery, the user grasps the two input handles 22 with both hands to perform the operation. The first identification point M and the second identification point N represent the actual positions of the user's hands. In this embodiment, the first master arm 2a is located on the right side of the main trolley 3, and the second master arm 2b is located on the left side of the main trolley 3.

[0110] Specifically, in this embodiment, Figure 3 As shown, the input handle 22 includes a first connecting rod 221, a second connecting rod 222, a third connecting rod 223, and a grip portion 224. The first connecting rod 221, the second connecting rod 222, and the third connecting rod 223 are all L-shaped. The two ends of the second connecting rod 222 are rotatably connected to one end of the first connecting rod 221 and one end of the third connecting rod 223, respectively. The other end of the first connecting rod 221 is rotatably connected to the grip portion 224, and the other end of the third connecting rod 223 is rotatably connected to the arm link assembly 21. An opening and closing assembly 225 is provided on the grip portion 224. During the operation, the user grasps the grip portion 224 with both hands and pinches the opening and closing assembly 225 with the thumb and index finger.

[0111] Furthermore, the rotating axis between the first connecting rod 221 and the gripping portion 224 is the first rotating axis W1, the rotating axis between the first connecting rod 221 and the second connecting rod 222 is the second rotating axis W2, and the rotating axis between the second connecting rod 222 and the third connecting rod 223 is the third rotating axis W3. The first rotating axis W1 is arranged perpendicular to the second rotating axis W2, and the third rotating axis W3 is arranged perpendicular to the second rotating axis W2. The first rotating axis W1, the second rotating axis W2 and the third connecting rod W3 always intersect at the same point T. In this embodiment, the intersection T of the three rotating axes (the first rotating axis W1, the second rotating axis W2 and the third connecting rod W3) on the two input handles 22 are the first identification point M and the second identification point N, respectively. In other embodiments, the first identification point M and the second identification point N can also be other points on the input handle 22, which are not limited here.

[0112] S13. Project the first identification point M and the second identification point N vertically onto the reference plane h to obtain a first conversion point A and a second conversion point B.

[0113] Specifically, the first identification point M is projected onto the reference plane h along a direction perpendicular to the reference plane h (i.e., the Y-axis direction) to obtain the first conversion point A; the second identification point N is projected onto the reference plane h along a direction perpendicular to the reference plane h (i.e., the Y-axis direction) to obtain the second conversion point B.

[0114] S14. Translate the first conversion point A by a first distance L1 along one of the first direction and the second direction to obtain a first control point D, and translate the second conversion point B by a second distance L2 along the other of the first direction and the second direction to obtain a second control point E, wherein the first control point D and the second control point E do not overlap, L1 ≥ 0, L2 ≥ 0, and the first direction is opposite to the second direction.

[0115] The above setting realizes the ability to translate the positions of the first conversion point A and the second conversion point B. For example, the first conversion point A and the second conversion point B can be translated according to the size of R1, so as to adjust the distance R2 between the first control point D and the second control point E. That is to say, R1 is adjusted to obtain R2. Since the angle θ is obtained in the subsequent steps according to the first control vector The calculated position of the first conversion point A and the second conversion point B can adjust the size of the angle θ obtained in the subsequent steps, that is, by adjusting R1 to adjust the size of the angle θ, thereby adjusting the rotation speed of the endoscope, reducing the possibility of the user getting dizzy due to the endoscope rotating too fast, and avoiding the fatigue caused by the user's hands rotating too large an angle due to the endoscope rotating too slowly, thereby ensuring the efficiency of the operation.

[0116] Specifically, a vertical plane is set that passes through the midpoint P of the line connecting the first conversion point A and the second conversion point B, and is perpendicular to the line connecting the first conversion point A and the second conversion point B. When the first conversion point A is translated along the first direction, the first conversion point A gradually moves away from the vertical plane. When the second conversion point B is translated along the second direction, the second conversion point B gradually moves away from the vertical plane. When the first conversion point A is translated along the second direction, the first conversion point A gradually approaches the vertical plane. When the second conversion point B is translated along the first direction, the second conversion point B gradually approaches the vertical plane. The first and second directions can be perpendicular to the line connecting the first and second conversion points A and B, can be inclined relative to the line connecting the first and second conversion points A and B, or can be collinear with the line connecting the first and second conversion points A and B.

[0117] It can be understood that, in the reference plane h, the conversion vector is obtained according to the coordinates of the first conversion point A and the second conversion point B. Transformation Vector The direction is from the transformation point A to the second transformation point B, and the transformation vector The module is R1.

[0118] As a preferred solution, L1=L2 in step S14. Preferably, L1=L2. That is, the first conversion point A and the second conversion point B are translated the same distance. In this embodiment, 3 cm < L1 = L2 < 13 cm.

[0119] In some other embodiments, L1=0 and L2>0, or L1>0 and L2=0, as long as L1=L2=0 is not established, and no limitation is made here.

[0120] Preferably, the first conversion point A and the second conversion point B are located on opposite sides of the vertical plane, and the first conversion point A and the first control point D are located on the same side of the vertical plane, and the second conversion point B and the second control point E are located on the other side of the vertical plane.

[0121] When the user operates the main control terminal 10, since the observation chamber 4 is an immersive display structure, in order to observe a clear picture, the distance between the user and the eyepiece 41 is usually close. Moreover, in some existing technologies, in order to ensure the safety of the operation, the observation chamber 4 is usually provided with a sensor near the eyepiece 41 to detect whether the user's head is close to the eyepiece 41. If the user's head is out of the detection range of the sensor, the surgical robot will leave the master-slave control mode, that is, the master control arm 2 cannot control the movement of the robotic arm 5. Therefore, during the operation, the user needs to be in a position close to the eyepiece 41 and cannot be out of the detection range of the sensor. This results in that during the operation, the user cannot see the two input handles 22 with both hands below the observation chamber 4, and can only rely on his own sense to judge the distance between his hands. If the distance between the two input handles 22 held by the user's hands is close, that is, R1 is small, the user's hands moving a smaller distance may cause the first control vector With the second control vector The angle θ between them is large, which causes the endoscope to rotate too fast, and may even cause the first control vector With the second control vector Towards the opposite direction, the image acquisition device 1 jumps between two opposite rotation directions in a short period of time, increasing the possibility of user dizziness. At this time, the user needs to exit the master-slave control mode, exit the observation chamber 4 and check the relative position between the two input handles 22, and then return to the detection range of the sensor again, so that the surgical robot enters the master-slave control mode again and can control the rotation of the endoscope, which reduces the convenience of user operation and also affects the smooth implementation of the operation.

[0122] Preferably, step S14 specifically includes:

[0123] S1401, determining whether the distance R1 between the first transition point A and the second transition point B is less than or equal to a first threshold Z1, and Z1 is greater than 0;

[0124] S1402. If true, that is, R1≤Z1, translate the first conversion point A along the first direction by a first distance L1 to obtain a first control point D, and translate the second conversion point B along the second direction by a second distance L2 to obtain a second control point E, so that the distance between the first control point D and the second control point E is R2≥R1.

[0125] In this embodiment, 20 cm < Z1 < 30 cm.

[0126] The motion control method of the image acquisition device provided in this embodiment is as follows: when the distance R1 between the first conversion point A and the second conversion point B is less than the first threshold Z1, that is, when it is judged that R1 is small, the first conversion point A and the second conversion point B are translated in opposite directions to obtain the first control point D and the second control point E and the first control vector Make the distance R2 ≥ R1 between the first control point D and the second control point E. The first control point D and the second control point E move with the master arm 3 to reach the first moving point F and the second moving point G, and obtain the second control vector In the subsequent step the first control vector is calculated With the second control vector Compared with directly using the first conversion point A and the second conversion point B to calculate the two control vectors before and after the master arm 3 moves, and obtaining the rotation angle based on the two control vectors, in the motion control method of the image acquisition device provided in this embodiment, the first control vector With the second control vector The angle θ between them is small, which reduces the rotation speed of the endoscope, thereby reducing the possibility of the user getting dizzy due to the endoscope rotating too fast, and ensuring the safety of the operation; at the same time, it avoids the image acquisition device 1 jumping between two opposite rotation directions in a short period of time, which is also conducive to simplifying the user's operation process, improving the convenience of the user's operation, and ensuring the smooth implementation of the operation.

[0127] Preferably, the first direction and the second direction are collinear with the line connecting the first conversion point A and the second conversion point B. In this embodiment, the first direction and the vector The second direction is the same as the vector When R1 is judged to be small, that is, R1≤Z1, the vector With vector The direction is the same, the vector With vector The same direction.

[0128] Preferably, if R1≤Z1, then R2=Z1. That is, when R1≤Z1, no matter what the specific value of R1 is, the distance R2 between the first control point D and the second control point E is a constant Z1, which simplifies the calculation process of the angle θ and avoids the situation where R2 obtained after extending R1 is still small, thereby ensuring that the first control vector With the second control vector The angle θ between them can be maintained at an appropriate value, which can reliably achieve the effect of slowing down the rotation speed of the endoscope, further reducing the possibility of the user getting dizzy due to the endoscope rotating too fast, and ensuring the safety of the operation.

[0129] Specifically, because the first direction and the second direction are collinear with the line connecting the first transition point A and the second transition point B, L1 and / or L2 are inversely proportional to R1. That is, L1 is inversely proportional to R1, and / or L2 is inversely proportional to R1, so that R2 = Z1.

[0130] Since the first direction and the second direction are collinear with the line connecting the first conversion point A and the second conversion point B, the relationship between R1 and R2 satisfies the following formula (1):

[0131] R2=R1+L1+L2 (1)

[0132] Since L1=L2, the relationship between L1, L2 and R1 satisfies the following formula (2):

[0133]

[0134] In other embodiments, the first direction and the second direction may also be changed according to needs, and the relationship between L1 and L2 and R1 may also be changed accordingly, which is not limited here.

[0135] During the operation, if the distance between the two input handles 22 held by the user's hands is far, that is, R1 is large, even if the user's hands move a large distance, the first control vector With the second control vector The angle θ between them is still too small and exceeds the reasonable range, which causes the endoscope to rotate too slowly. The user needs to increase the distance that both hands move to rotate the endoscope to the appropriate angle. The user is prone to fatigue, which increases the difficulty of user operation and affects the efficiency of the operation. Moreover, if the rotation range of the user's hands is too large, it may also cause the input handle 22 and the main control arm 2 to collide with other structures of the main trolley 3, affecting the safety of the operation and the smooth implementation of the operation.

[0136] Preferably, after step S1401 determines whether R1≤Z1 holds, the method further includes:

[0137] S1403. If not, that is, R1>Z1, translate the first conversion point A along the second direction by a first distance L1 to obtain a first control point D, and translate the second conversion point B along the first direction by a second distance L2 to obtain a second control point E, such that Z1<R2≤R1. That is, in this embodiment, L1+L2<R1-Z1.

[0138] In the motion control method of the image acquisition device provided in this embodiment, when the distance R1 between the first transition point A and the second transition point B is greater than the first threshold Z1, that is, when it is judged that R1 is large, the first transition point A and the second transition point B are translated in opposite directions so that Z1<R2≤R1. In the subsequent step, the first control vector is calculated. With the second control vector Compared with directly using the first conversion point A and the second conversion point B to calculate the two control vectors before and after the master arm 3 moves, and obtaining the rotation angle based on the two control vectors, in the motion control method of the image acquisition device provided in this embodiment, the first control vector With the second control vector The angle θ between them is large, which avoids the endoscope from rotating too slowly, and also avoids the user from needing to increase the distance that both hands move to rotate the endoscope to the appropriate angle, thereby reducing the user's fatigue and the difficulty of user operation, ensuring the efficiency of the operation, and reducing the possibility of collision between the input handle 22 and the main control arm 2 and other structures of the main trolley 3, thereby improving the safety of the operation and ensuring the smooth implementation of the operation.

[0139] In this embodiment, when it is judged that R1 is larger, that is, R1>Z1, the vector With vector The direction is the same, the vector With vector The same direction.

[0140] It can be understood that no matter where the first identification point M and the second identification point N are rotated to, they can be vertically projected into the reference plane h to obtain the corresponding first conversion point A and second conversion point B. Since "the first direction and the second direction are collinear with the first conversion point A and the second conversion point B", no matter the conversion vector At any angle, if R1≤Z1, the above settings can ensure that R2≥R1 is established; if R1>Z1, the above settings can ensure that Z1<R2≤R1 is established. That is, it can be guaranteed that: when R1 is small, R2≥R1, and the first control vector is reduced. With the second control vector and when it is judged that R1 is large, Z1<R2≤R1, the first control vector is expanded. With the second control vector That is, the above setting adjusts the size of the angle θ according to the size of R1, thereby adjusting the rotation speed of the endoscope, further reducing the possibility of the user getting dizzy due to the endoscope rotating too fast, and avoiding the fatigue caused by the user's hands rotating too large an angle due to the endoscope rotating too slowly, thereby ensuring the efficiency of the operation.

[0141] Further preferably, step S1403 specifically includes: determining whether R1 ≤ a second threshold Z2 holds, Z1 < Z2, if so, L1 = L2 = 0; otherwise, L1 > 0, L2 > 0. In this embodiment, 50 cm < Z2 < 65 cm.

[0142] That is to say, when R1 is between Z1 and Z2, that is, Z1<R1≤Z2, R1 is judged to be large at this time, but still within a reasonable range, then the translation distance L1 of the first conversion point A = the translation distance L2 of the second conversion point B = 0, that is, the first conversion point A and the second conversion point B do not translate, so that Z1<R2=R1≤Z2; when Z2<R1, R1 is judged to be too large and not within a reasonable range, then the translation distance L1 of the first conversion point A>0, the translation distance L2 of the second conversion point B>0, so that R2<R1.

[0143] After determining that R1>Z1, the relationship between R1 and Z2 is further determined, and the translation distance between the first conversion point A and the second conversion point B can be selected according to the situation. When Z1<R1≤Z2, the first conversion point A and the second conversion point B are not translated, the first conversion point A coincides with the first control point D, and the second conversion point B coincides with the second control point E, and there is no need to calculate the translation process; when Z2<R1, the first conversion point A and the second conversion point B are translated. The above setting simplifies the calculation process of step S14, reduces the difficulty of calculation, and can quickly and accurately calculate the first control point D and the second control point E and the first control vector based on R1. This reduces the computing power requirements for the control unit, which helps reduce the cost of the surgical robot. Simultaneously, simplifying the calculation process ensures timely rotation of the endoscope, shortening the time difference between the user's hand movements and the endoscope's rotation, that is, shortening the master-slave control delay, further enhancing the user's intuitiveness and immersion during operation. It is understandable that if the endoscope fails to rotate in time with the input handle 22, it may easily lead to excessive rotation of the endoscope, requiring the user to use the master control arm 2 again to control the endoscope to rotate in the opposite direction until it reaches the appropriate angle. Multiple user operations are required to control the endoscope to rotate to the appropriate angle. This embodiment shortens the master-slave control delay, thus avoiding multiple user operations, improving the efficiency of controlling the endoscope's rotation, reducing user fatigue, and further ensuring the safety of the surgery.

[0144] Preferably, if R1>Z2, R2=Z2. That is, when R1>Z2, no matter what the specific value of R1 is, the distance R2 between the first control point D and the second control point E is a constant value Z2, which simplifies the calculation process of the angle θ and avoids the situation where R2 is still large after R1 is shortened, thereby ensuring that the first control vector With the second control vector The angle θ between them can be maintained at an appropriate value, which can reliably achieve the effect of accelerating the rotation speed of the endoscope, further avoiding the fatigue caused by the user's hands rotating at too large an angle, and ensuring the safety of the operation.

[0145] Specifically, since the first direction and the second direction are collinear with the line connecting the first conversion point A and the second conversion point B, L1 and / or L2 are proportional to R1. That is, L1 is proportional to R1, and / or L2 is proportional to R1, so that R2=Z2.

[0146] Since the first direction and the second direction are collinear with the line connecting the first conversion point A and the second conversion point B, the relationship between R1 and R2 satisfies the following formula (3):

[0147] R2=R1-L1-L2 (3)

[0148] Since L1=L2, the relationship between L1, L2 and R1 satisfies the following formula (4):

[0149]

[0150] In other embodiments, the first direction and the second direction may also be changed according to needs, and the relationship between L1 and L2 and R1 may also be changed accordingly, which is not limited here.

[0151] S2. The two master control arms 2 move at a preset time interval so that the first control point D synchronously follows the first identification point M and reaches the first moving point F, and the second control point E synchronously follows the second identification point N and reaches the second moving point G. A second control vector is determined from the first moving point F to the second moving point G. Second control vector Located on the reference plane h.

[0152] That is, the first control point D synchronously follows the first identification point M to move to the first moving point F after a preset time interval, and the second control point E synchronously follows the second identification point N to move to the second moving point G after a preset time interval. At the same time, the second control vector is determined based on the first moving point F and the second moving point G. Second control vector The direction of the first moving point F points to the second moving point G, and the second control vector Located on the reference plane h.

[0153] In this embodiment, the preset time interval is greater than 0s, preferably 0.001s to 1s. In other embodiments, the preset time interval can be set to any value according to actual control requirements, and is not limited here.

[0154] like Figure 9 As shown, in step S2, during the movement of the two master control arms 2 at a preset time interval, the first identification point M moves at a preset time interval to reach the third moving point H. The first moving vector from the first identification point M to the third moving point H is Project it into the reference plane h to obtain the first projection vector. The above description of "the first control point D synchronously follows the first identification point M and reaches the first moving point F" means that the first control point D moves along the first following vector Move to the first moving point F, that is, the first following vector The first control point D points to the first moving point F, and the first following vector Same direction and magnitude as the first projection vector.

[0155] Similarly, when the user moves both hands for a preset time interval, the second identification point N moves for a preset time interval to reach the fourth moving point I. The second moving vector from the second identification point N to the fourth moving point I is Project it into the reference plane h to obtain the second projection vector. The above description of "the second control point E synchronously follows the second identification point N to move to the second moving point G" means that the second control point E moves along the second following vector Move to the second moving point G, that is, the second following vector The second control point E points to the second moving point G, and the second following vector Has the same direction and magnitude as the second projection vector.

[0156] FIG10( a ) shows in detail the implementation of the aforementioned method of “compared to directly using the first conversion point A and the second conversion point B to calculate the two control vectors before and after the movement of the master arm 3, and obtaining the rotation angle according to the two control vectors”, in the motion control method of the image acquisition device provided in this embodiment, the first control vector With the second control vector The angle θ between them is small. Taking the direction shown in Figure 10(a) as a reference, the X-axis direction is the left-right direction of Figure 10(a), and the Y-axis direction is the up-down direction of Figure 10(a). In Figure 10(a), when the first conversion point A and the second conversion point B do not translate and directly follow the corresponding identification point movement synchronously, during the movement of the two master control arms 2 for a preset time interval, the first conversion point A reaches the first virtual point A', and the second conversion point B reaches the second virtual point B', and a virtual vector pointing from the first virtual point A' to the second virtual point B' is obtained. The first virtual vector from the first conversion point A to the first virtual point A' The direction and magnitude of the first projection vector are the same. The second virtual vector from the second conversion point B to the second virtual point B' The direction and magnitude are the same as the second projection vector. With virtual vector The included angle θ'>θ.

[0157] FIG10( b ) shows in detail the implementation of the aforementioned method of “compared to directly using the first conversion point A and the second conversion point B to calculate the two control vectors before and after the movement of the master arm 3, and obtaining the rotation angle according to the two control vectors”, in the motion control method of the image acquisition device provided in this embodiment, the first control vector With the second control vector The angle θ between them is large. Taking the direction shown in Figure 10(b) as a reference, the X-axis direction is the left-right direction of Figure 10(b), and the Y-axis direction is the up-down direction of Figure 10(b). In Figure 10(b), when the first conversion point A and the second conversion point B do not translate and directly follow the corresponding identification point movement synchronously, during the movement of the two master control arms 2 for a preset time interval, the first conversion point A reaches the first virtual point A', and the second conversion point B reaches the second virtual point B', and a virtual vector pointing from the first virtual point A' to the second virtual point B' is obtained. The first virtual vector from the first conversion point A to the first virtual point A' The direction and magnitude of the first projection vector are the same. The second virtual vector from the second conversion point B to the second virtual point B' The direction and magnitude are the same as the second projection vector. With virtual vector The included angle θ' is less than θ.

[0158] S3. Determine the first control vector With the second control vector The angle θ between them.

[0159] In this embodiment, the first control vector With the second control vector They are all located within the reference plane h, and the calculated angle θ is also within the reference plane h, that is, the angle θ is calculated within the reference plane h, which makes it more intuitive for the user to control the rotation of the image acquisition device 1, enhances the user's immersion, and reduces the user's fatigue during the operation.

[0160] Calculate the first control vector The unit vector With the second control vector The unit vector Then and Substitute into formula (5) to calculate the angle θ. Formula (5) is:

[0161]

[0162] In other embodiments, the angle θ can be directly calculated using formula (6). Formula (6) is:

[0163]

[0164] S4. Generate a motion instruction for controlling the rotation of the image acquisition device 1 according to the included angle θ.

[0165] Specifically, the aforementioned motion instructions can cause the endoscope to rotate clockwise or counterclockwise around the axis of its barrel 11 by an angle θ. Furthermore, the aforementioned motion instructions can control a drive motor mounted on the endoscope mounting structure to drive the endoscope's rotation. Specifically, the endoscope is caused to rotate by an angle θ at predetermined intervals. In other embodiments, the aforementioned control instructions can also control the movement of corresponding joints on the robotic arm 5 to achieve endoscope rotation.

[0166] Among them, the implementation principle of generating the motion instruction for controlling the rotation of the image acquisition device 1 according to the angle θ can be referred to the existing technology, which is not the focus of protection of this embodiment and will not be described in detail here.

[0167] When the user faces the direction of the reference plane h, the second control vector Relative to the first control vector Take, for example, clockwise rotation of angle θ. In some embodiments, the image acquisition device 1 is controlled to rotate according to a motion instruction generated based on angle θ. The rotation angle of the image acquisition device 1 relative to the patient is the same as angle θ, and the rotation direction is clockwise. This creates a sensation for the user as if the endoscope were being directly rotated. In other embodiments, the image acquisition device 1 is controlled to rotate according to angle θ. The rotation angle of the image acquisition device 1 relative to the patient is the same as angle θ, and the rotation direction is counterclockwise. This creates a sensation for the user as if the patient were being directly rotated clockwise by angle θ. In reality, the patient does not move during surgery. Therefore, the fundamental reason for achieving this tactile effect is that the endoscope is moving.

[0168] The clockwise and counterclockwise rotations of the endoscope are both based on the direction from the handle 13 to the lens 12 .

[0169] It can be understood that when the angle θ calculated in step S4 = 0, the endoscope does not rotate.

[0170] S5. Determine whether the signal for entering the motion control state has stopped. If so, leave the motion control state and end controlling the motion of the image acquisition device 1; otherwise, repeat the above steps.

[0171] Specifically, repeating the above steps here is to repeat steps S1-S4.

[0172] In this embodiment, when the user releases the foot button corresponding to the control for entering the motion control state of the image acquisition device 1, that is, the user does not step on the foot button, the foot button will stop sending a signal to the control unit, that is, the signal for entering the motion control state stops, and the control unit will determine that the image acquisition device 1 has left the motion control state.

[0173] It can be understood that completing steps S1-S5 constitutes one cycle, in which the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I. When entering the next cycle, the coordinates of the third moving point H in the previous cycle are the coordinates of the first identification point M in the next cycle, and the coordinates of the fourth moving point I in the previous cycle are the coordinates of the second identification point N in the next cycle.

[0174] In some embodiments, after step S5 , when entering the next cycle, the determination of whether a signal for entering the motion control state is received and step S11 may be omitted, and the steps of determining the first identification point M and the second identification point N may be directly executed.

[0175] It should be understood that the surgical robot described above corresponds to the embodiment of the image acquisition device motion control method described above. The control unit in the surgical robot is capable of executing each step involved in the above method. The specific functions of the surgical robot can be found in the description above. To avoid repetition, a detailed description is omitted here. The surgical robot includes at least one software function module that can be stored in a memory in the form of software or firmware or fixed in the operating system (OS) of the device.

[0176] like Figure 11 FIG2 is a schematic diagram of the structure of an electronic device 200 provided in this embodiment. The electronic device 200 includes a memory 202 and a processor 201. The memory 202 stores a computer program executable by the processor 201. When the computer program is executed by the processor 201, the image acquisition device motion control method described above is executed.

[0177] Memory 202 and processor 201 may be interconnected and communicate with each other via a communication bus 203 and / or other connection mechanisms (not shown). Memory 202 stores a computer program executable by processor 201. When executed by processor 201, the image acquisition device motion control method described above is implemented.

[0178] This embodiment further provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by the processor 201 , the method for controlling the motion of the image acquisition device as described above is executed.

[0179] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0180] Example 2

[0181] This embodiment provides a method for motion control of an image acquisition device, a surgical robot, equipment, and a medium. The structure of this embodiment is the same as that of the first embodiment, and only some steps of the method for motion control of an image acquisition device are different. This embodiment will not repeat the other parts that are the same as those in the first embodiment.

[0182] It can be understood that no matter whether the reference plane h is perpendicular to the user's field of view or the Z-axis direction, the reference plane h is parallel to the Z-axis direction. Preferably, in step S14, one of the first direction and the second direction is the positive direction of the X-axis of the observation chamber coordinate system, and the other is the negative direction of the X-axis. The above setting allows one of the first conversion point A and the second conversion point B to translate along the positive direction of the X-axis, and the other to translate along the negative direction of the X-axis, which simplifies the process of calculating the coordinates of the first control point D and the second control point E obtained by translating the first conversion point A and the second conversion point B, that is, simplifies the calculation process of step S14, reduces the difficulty of calculation, and can quickly and accurately calculate the first control point D and the second control point E and the first control vector This reduces the computing power requirements for the control unit, which helps reduce the cost of the surgical robot. Simultaneously, simplifying the calculation process ensures timely rotation of the endoscope, shortening the time difference between the user's hand movements and the endoscope's rotation, that is, shortening the master-slave control delay, further enhancing the user's intuitiveness and immersion during operation. It is understandable that if the endoscope fails to rotate in time with the input handle 22, it may easily lead to excessive rotation of the endoscope, requiring the user to use the master control arm 2 again to control the endoscope to rotate in the opposite direction until it reaches the appropriate angle. Multiple user operations are required to control the endoscope to rotate to the appropriate angle. This embodiment shortens the master-slave control delay, thus avoiding multiple user operations, improving the efficiency of controlling the endoscope's rotation, reducing user fatigue, and further ensuring the safety of the surgery.

[0183] like Figure 12-13 As shown, specifically in step S2, during the movement of the two master control arms 2 for a preset time interval, the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I. The third moving point H and the fourth moving point I are respectively vertically projected onto the reference plane h to obtain the third conversion point J and the fourth conversion point K. It can be understood that the third conversion point J is the first virtual point A' in the first embodiment, and the fourth conversion point K is the second virtual point B' in the first embodiment.

[0184] In step S3, the first control vector is determined With the second control vector The angle θ between them also includes:

[0185] S501, determining whether the angle γ between the line connecting the first transition point A and the second transition point B and the Y axis is greater than or equal to a first angle threshold q1, and the first angle threshold q1 is less than 45°; if so, proceeding to the subsequent steps; otherwise, exiting the motion control state and terminating the control of the motion of the image acquisition device 1;

[0186] S502: Set the first conversion point A to be located on the side of the second conversion point B facing the positive X-axis of the observation chamber coordinate system, and determine whether the third conversion point J is located on the side of the fourth conversion point K facing the positive X-axis. If so, proceed to the subsequent steps; otherwise, exit the motion control state and terminate the control of the motion of the image acquisition device 1.

[0187] S503: Determine the decision vector from the fourth conversion point K to the third conversion point J The determination angle ω between the positive direction of the X axis and the

[0188] S504, judging whether the angle ω ≥ the second angle threshold q2 is established, and the second angle threshold q2 is < 90°; if so, leaving the motion control state and ending the control of the image acquisition device 1 to move; otherwise, proceeding to subsequent steps.

[0189] In this embodiment, Figure 13 The direction shown is the reference, the X-axis direction is Figure 13 The left and right directions, the Y-axis direction is Figure 13 In the up and down direction. Figure 13 In the figure, the positive direction of X is from left to right.

[0190] In this embodiment, preferably, 5°≤q1≤10°, and q2=90°-q1. The specific values of q1 and q2 can be calculated based on the actual length of L1, the actual length of L2, and actual needs. This is not the focus of this embodiment and will not be further described here.

[0191] In the case where "one of the first and second directions is the positive direction of the X-axis of the observation chamber coordinate system, and the other is the negative direction of the X-axis", if the angle γ between the line connecting the first conversion point A and the second conversion point B and the Y-axis is less than the first angle threshold q1, then "regardless of the conversion vector At any angle, if R1≤Z1, the above settings can ensure that R2≥R1 is established; if R1>Z1, the above settings can ensure that Z1≤R2≤R1 is established". Therefore, when it is determined that γ<q1, the motion control state is left, and the user needs to adjust the position of both hands to enter the motion control state again. The purpose of steps S502 to S504 is to determine: after the first conversion point A and the second conversion point B follow the first identification point M and the second identification point N to move, whether the judgment angle ω between the line between the fourth conversion point K and the third conversion point J and the Y axis is less than the second angle threshold q2, to ensure that "regardless of the conversion vector At any angle, if R1≤Z1, the above settings can ensure that R2≥R1 holds; if R1>Z1, the above settings can ensure that Z1≤R2≤R1 holds.

[0192] Preferably, step S501 may be placed between step S11 and step S12. Steps S502 to S504 may be placed between step S2 and step S3.

[0193] Furthermore, if it is determined that the angle ω ≥ the second angle threshold q2 is established, in addition to leaving the motion control state, the method further includes: issuing an alarm message.

[0194] In this embodiment, the surgical robot further includes an alarm module, which is communicatively connected to the control unit and issues an alarm message when it is determined that the angle ω ≥ the second angle threshold q2.

[0195] In some embodiments, an alarm message can be displayed on the display screen of the observation chamber 4, prompting the user to exit the motion control mode, stop controlling the movement of the image acquisition device 1, readjust the position of the input handle 22, and re-enter the motion control mode to continue controlling the rotation of the image acquisition device 1. In other embodiments, the alarm message can also be emitted as a sound through a speaker or in other forms, which are not limited here.

[0196] In this embodiment, when it is determined that the angle ω ≥ the second angle threshold q2, the control unit sends a prompt signal to the alarm module. After receiving the prompt signal, the alarm module issues an alarm message. The connection principle between the alarm module and the control unit, the specific structure of the alarm module, and the principle of the alarm module issuing the alarm signal after receiving the prompt signal can all be referenced in the prior art. However, these are not the focus of this embodiment and are not further described here.

[0197] Example 3

[0198] This embodiment provides a method for motion control of an image acquisition device, a surgical robot, equipment, and a medium. The structure of this embodiment is the same as that of the first embodiment, and only some steps of the method for motion control of an image acquisition device are different. This embodiment will not repeat the other parts that are the same as those in the first embodiment.

[0199] Preferably, in step S1, a first control vector pointing from the first control point D to the second control point E is determined. Later also includes:

[0200] S10 , determining a virtual control point C, wherein the first identification point M, the second identification point N, and the virtual control point C satisfy a preset first position relationship.

[0201] In this embodiment, step S10 is after step S14, that is, after step S14 is completed, step S10 is executed. In other embodiments, step S10 can also be set between step S12 and step S13, that is, after step S12 is completed and before step S13 is executed, step S10 is executed.

[0202] In step S2, during the movement of the two master control arms 2 at a preset time interval, within the observation chamber coordinate system, the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I. That is, the first identification point M moves to the third moving point H at a preset time interval, and the second identification point N moves to the fourth moving point I at a preset time interval. A second positional relationship is determined based on the third moving point H, the fourth moving point I, and the first positional relationship, and a mobile control point Q is determined based on the second positional relationship, the third moving point H, and the fourth moving point I.

[0203] In this embodiment, both the virtual control point C and the mobile control point Q correspond to the center point of the endoscope lens, that is, both the virtual control point C and the mobile control point Q correspond to the geometric center of the lens 12. Preferably, the preset first positional relationship is: the virtual control point C is the midpoint of the line connecting the first identification point M and the second identification point N. Based on the first positional relationship, the second positional relationship is: the mobile control point Q is the midpoint of the line connecting the third moving point H and the fourth moving point I. This arrangement ensures that both the virtual control point C and the mobile control point Q are located between the user's hands during surgery, enhancing the user's intuitiveness when controlling the movement of the image acquisition device 1 and facilitating user experience.

[0204] In other embodiments, the preset first positional relationship may also be: the virtual control point C is located on the perpendicular bisector of the line connecting the first identification point M and the second identification point N. In this case, the virtual control point C, the first identification point M, and the second identification point N are located on a first plane, and the virtual control point C, the first identification point M, and the second identification point N are the three vertices of the same isosceles triangle, whose side length is h1 and the base length is h2. The first plane is parallel to the reference plane h.

[0205] The aforementioned "determining the second positional relationship based on the third moving point H, the fourth moving point I, and the first positional relationship" means that the second positional relationship is that the movement control point Q lies on the perpendicular bisector of the line connecting the third moving point H and the fourth moving point I. In this case, the third moving point H, the fourth moving point I, and the movement control point Q lie on the second plane, forming the vertices of an isosceles triangle with a base length of h3 and a base length of h4. The second plane is parallel to the reference plane h.

[0206] The above description of “determining the moving control point Q based on the second position relationship, the third moving point H and the fourth moving point I” means Thereby, the specific position of the moving control point Q on the perpendicular bisector is obtained, that is, the moving control point Q is determined.

[0207] In other embodiments, the preset first position relationship can also be: the virtual control point C coincides with the first identification point M; or, the virtual control point C coincides with the second identification point N; or, the virtual control point C is located on the line connecting the first identification point M and the second identification point N, and the length of the line segment MC is twice the length of the line segment NC; or, the virtual control point C, the first identification point M and the second identification point N are located on the same circumference; or, three circles with the virtual control point C, the first identification point M and the second identification point N as the center are tangent to each other; or, the virtual control point C, the first identification point M and the second identification point N are the three vertices of the same equilateral triangle, etc., which are not limited here. At this time, the process of "determining the second position relationship based on the third moving point H, the fourth moving point I and the first position relationship, and determining the moving control point Q based on the second position relationship, the third moving point H and the fourth moving point I" can refer to the above process and will not be repeated here.

[0208] Step S3 also includes: determining the motion vector from the virtual control point C to the mobile control point Q

[0209] It is understandable that the step S3 of "determining the first control vector With the second control vector The angle θ between the virtual control point C and the moving control point Q is determined " can be executed simultaneously or in steps; when executed in steps, the step of determining the angle θ can be performed first, or the step of determining the motion vector The steps can be preceded and are not limited here.

[0210] Step S4 also includes: according to the motion vector A motion instruction for controlling the movement of the image acquisition device 1 is generated.

[0211] Among them, "movement" means translation. According to the motion vector The implementation principle of generating the motion instruction for controlling the movement of the image acquisition device 1 can be referred to the prior art, which is not the focus of protection of this embodiment and will not be described in detail here.

[0212] Similar to step S3, step S4 of "generating a motion instruction for controlling the rotation of the image acquisition device 1 according to the included angle θ" and "generating a motion instruction for controlling the rotation of the image acquisition device 1 according to the motion vector The step of generating a motion instruction for controlling the movement of the image acquisition device 1 can be executed simultaneously or in steps. When the step is executed in steps, the step of generating a motion instruction according to the angle θ can be performed first, or the step of generating a motion instruction according to the motion vector θ can be performed in the first step. The steps of generating motion instructions can be in the first step, which is not limited here.

[0213] Specifically, compared to the angle θ obtained in the reference plane h, the virtual control point C and the mobile control point Q are both points in the three-dimensional space of the observation warehouse coordinate system, that is, the motion vector It is a three-dimensional space vector, which can accurately represent the direction and distance of the user's hands moving in a cycle, making it more intuitive for the user to control the movement of the image acquisition device 1 and improving the user's immersion.

[0214] Similar to controlling the rotation of the image acquisition device 1 , the user's hand feeling may be like directly translating an endoscope, or the user's hand feeling may be like directly translating a patient, which is not limited here.

[0215] Example 4

[0216] This embodiment provides a method for motion control of an image acquisition device, a surgical robot, equipment, and a medium. The structure of this embodiment is the same as that of the first embodiment, and only some steps of the method for motion control of an image acquisition device are different. This embodiment will not repeat the other parts that are the same as those in the first embodiment.

[0217] Among them, step S14 of this embodiment is different from that of embodiment 1. Step S14 of this embodiment includes: translating the first conversion point A along the first direction by a first distance L1 to obtain a first control point D, translating the second conversion point B along the second direction by a second distance L2 to obtain a second control point E, L1>0, L2>0, the first direction is opposite to the second direction, and the first direction is opposite to the vector The second direction is the same as the vector are in the same direction so that R2>R1.

[0218] That is, no matter what the relationship between R1 and Z1 is, the first conversion point A and the second conversion point B are translated in directions opposite to each other to achieve R2>R1, so that the subsequent control vector The calculated included angle θ becomes smaller, that is, the included angle θ within one cycle becomes smaller, thereby reducing the rotation speed of the image acquisition device 1, reducing the possibility of the user getting dizzy due to the image acquisition device 1 rotating too fast, making it easier for the user to accurately adjust the image acquisition device 1 to a suitable angle, and also improving the smoothness of the image acquisition device 1 during rotation.

[0219] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices / systems and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0220] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0221] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A motion control method for an image acquisition device, characterized in that: include: In response to a received signal indicating entering a motion control state, determining, within a reference plane, a first control point D corresponding to a first identification point M on one master control arm and a second control point E corresponding to a second identification point N on the other master control arm, and determining a first control vector pointing from the first control point D to the second control point E; A preset time interval is set between the two main control movements so that the first control point D synchronously follows the first identification point M and reaches the first moving point F, and the second control point E synchronously follows the second identification point N and reaches the second moving point G, and a second control vector is determined that points from the first moving point F to the second moving point G, and the second control vector is located on the reference plane; determining an angle θ between the first control vector and the second control vector; generating a motion instruction for controlling the rotation of the image acquisition device according to the included angle θ; Determine whether the signal for entering the motion control state stops. If so, leave the motion control state and end controlling the motion of the image acquisition device; otherwise, repeat the above steps.

2. The image acquisition device motion control method according to claim 1, characterized in that: The determining, in the reference plane, a first control point D corresponding to a first identification point M on one master control arm and a second control point E corresponding to a second identification point N on another master control arm specifically includes: establishing an observation chamber coordinate system based on the observation chamber, and determining a reference plane within the observation chamber coordinate system; Determining the first identification point M and the second identification point N in the observation chamber coordinate system; Projecting the first identification point M and the second identification point N vertically onto the reference plane respectively to obtain a first conversion point A and a second conversion point B; The first conversion point A is translated by a first distance L1 along one of the first direction and the second direction to obtain a first control point D, and the second conversion point B is translated by a second distance L2 along the other of the first direction and the second direction to obtain a second control point E, the first control point D and the second control point E do not overlap, L1 ≥ 0, L2 ≥ 0, and the first direction is opposite to the second direction.

3. The method for controlling the motion of an image acquisition device according to claim 2, wherein: The step of translating the first conversion point A by a first distance L1 along one of the first direction and the second direction to obtain a first control point D, and translating the second conversion point B by a second distance L2 along the other of the first direction and the second direction to obtain a second control point E specifically includes: Determine whether the distance R1 between the first transition point A and the second transition point B is less than or equal to a first threshold Z1, and Z1>0; If so, the first conversion point A is translated along the first direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the second direction by a second distance L2 to obtain a second control point E, so that the distance R2 between the first control point D and the second control point E is greater than or equal to R1.

4. The method for controlling the motion of an image acquisition device according to claim 3, wherein: If R1≤Z1, R2=Z1.

5. The method for controlling motion of an image acquisition device according to claim 3, wherein: The step of determining whether the distance R1 between the first transition point A and the second transition point B is less than or equal to the first threshold Z1 further includes: If not, the first conversion point A is translated along the second direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the first direction by a second distance L2 to obtain a second control point E, so that Z1<R2≤R1.

6. The method for controlling motion of an image acquisition device according to claim 5, wherein: If the above condition is not met, the first conversion point A is translated along the second direction by a first distance L1 to obtain a first control point D, and the second conversion point B is translated along the first direction by a second distance L2 to obtain a second control point E. The above condition also includes: determining whether R1 ≤ a second threshold Z2, Z1 < Z2, if so, L1 = L2 = 0; otherwise, L1 > 0, L2 > 0.

7. The method for controlling the motion of an image acquisition device according to claim 6, wherein: If R1>Z2, R2=Z2.

8. The method for controlling motion of an image acquisition device according to any one of claims 2 to 7, wherein: L1=L2.

9. The method for controlling motion of an image acquisition device according to any one of claims 2 to 7, wherein: The establishment of the observation chamber coordinate system specifically includes: The center of the observation chamber is the origin of the observation chamber coordinate system; and / or, The X-axis direction of the observation chamber coordinate system is the left-right direction; and / or, The Z-axis direction of the observation chamber coordinate system is the user's field of view or front-back direction.

10. The image acquisition device motion control method according to any one of claims 2 to 7, characterized in that: The first direction, the second direction, and a line connecting the first conversion point A and the second conversion point B are collinear.

11. The method for controlling motion of an image acquisition device according to any one of claims 2 to 7, wherein: The two master control arms are arranged along the X-axis direction of the observation chamber coordinate system, the reference plane is parallel to the X-axis of the observation chamber coordinate system, and one of the first direction and the second direction is the positive direction of the X-axis of the observation chamber coordinate system, and the other is the negative direction of the X-axis.

12. The method for controlling motion of an image acquisition device according to claim 11, wherein: During the preset time interval between the two movements of the master control arms, the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I. The third moving point H and the fourth moving point I are respectively vertically projected onto the reference plane to obtain a third conversion point J and a fourth conversion point K. Before determining the angle θ between the first control vector and the second control vector, the method further includes: whether the angle γ between the line connecting the first conversion point A and the second conversion point B and the Y-axis of the observation chamber coordinate system is greater than or equal to a first angle threshold q1, and the first angle threshold q1 is less than 45°; if so, proceed to the subsequent steps; otherwise, exit the motion control state and terminate the control of the motion of the image acquisition device; Assume that the first conversion point A is located on the side of the second conversion point B facing the positive direction of the X-axis of the observation chamber coordinate system, determine whether the third conversion point J is located on the side of the fourth conversion point K facing the positive direction of the X-axis, and if so, proceed to the subsequent steps; otherwise, exit the motion control state and terminate the control of the motion of the image acquisition device; Determine the decision vector from the fourth conversion point K to the third conversion point J The determination angle ω between the positive direction of the X-axis and the Determine whether the determination angle ω ≥ the second angle threshold q2 is established, and the second angle threshold q2 is < 90°; if so, leave the motion control state and end the control of the motion of the image acquisition device; otherwise, proceed to subsequent steps.

13. The method for controlling motion of an image acquisition device according to claim 12, wherein: If the determination angle ω≥the second angle threshold q2 is established, the method further includes: issuing an alarm message.

14. The method for controlling motion of an image acquisition device according to any one of claims 1 to 7, wherein: The step of determining a first control vector pointing from the first control point D to the second control point E further includes: determining a virtual control point C, wherein the first identification point M, the second identification point N, and the virtual control point C satisfy a preset first positional relationship; The two master control arms move at a preset time interval, the first identification point M moves to the third moving point H, and the second identification point N moves to the fourth moving point I, a second positional relationship is determined based on the third moving point H, the fourth moving point I, and the first positional relationship, and a movement control point Q is determined based on the second positional relationship, the third moving point H, and the fourth moving point I; Determine a motion vector from the virtual control point C to the mobile control point Q; A motion instruction for controlling the movement of the image acquisition device is generated according to the motion vector.

15. The method for controlling motion of an image acquisition device according to any one of claims 1 to 7, wherein: The reference plane is perpendicular to the user's field of view or front-back direction.

16. A surgical robot, characterized in that The surgical device comprises an image acquisition device, two master control arms and a control unit, wherein the control unit is communicatively connected to the master control arms and the image acquisition device respectively, and the control unit is configured to control the movement of the image acquisition device based on the image acquisition device motion control method according to any one of claims 1 to 15 to adjust the surgical field of view.

17. An electronic device, characterized in that The method comprises a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the image acquisition device motion control method according to any one of claims 1 to 15.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the steps of the image acquisition device motion control method according to any one of claims 1 to 15.

Images