A control method and system for automatic exit of a surgical robot and a storage medium

Abstract

The present application relates to surgical robot control technical field, specifically to a kind of surgical robot automatic exit control method, step one: the current stroke position of yaw joint, pitch joint and execution joint is collected;Second step: if it meets first preset condition, yaw joint and pitch joint are reset to initial position simultaneously;If it meets second preset condition, pitch joint and yaw joint are reset to initial position in turn;If it meets third preset condition, yaw joint and pitch joint are reset to initial position in turn;If it does not meet any preset condition, the motion joint is reset to initial position simultaneously;Step three: the execution joint moves to first preset position.After completing surgery, robot automatically selects different exit mode according to the preset condition corresponding to the current position of motion joint, ensures that robot exits safely, can also avoid tissue pulling injury caused by improper operation when traditional manual needle withdrawal, significantly reduces the requirement for doctor's operation experience.

Description

Technical Field

[0001] This invention relates to the field of surgical robot motion control, and more specifically, to a control method, system, and storage medium for the automatic withdrawal of a surgical robot. Background Technology

[0002] In ophthalmic surgery, especially in the needle withdrawal procedure involving the fundus, current techniques primarily rely on manual manipulation. The surgeon manually controls the needle withdrawal process, which demands a high level of surgical skill and experience. Current techniques have the following drawbacks:

[0003] (1) Steep learning curve: The operation relies entirely on the doctor's manual control of the needle withdrawal process. The doctor needs to adjust the withdrawal speed and path based on experience and feel. In case of emergencies (such as sudden patient movement) when the needle tip approaches a critical structure (retinal surface), the doctor needs to quickly perform a manual emergency withdrawal operation. Slight carelessness can cause the needle tip to deviate or shake, thereby scratching the surrounding tissue and causing iatrogenic injury. This needle withdrawal technique requires doctors to undergo a long period of training to master. Novice doctors have a significantly higher probability of complications during the needle withdrawal process than experienced doctors.

[0004] (2) Insufficient precision in needle withdrawal control: When withdrawing the needle manually, it is difficult for doctors to accurately control the micron-level displacement, especially after a long operation. Fatigue may cause the doctor's hand tremors to worsen, further reducing control stability. In addition, manual operation relies entirely on the doctor's subjective experience and lacks objective feedback of real-time data (such as needle withdrawal speed and angle deviation).

[0005] (3) Risk of damage to consumables: The instruments used in the surgery are high-precision instruments and are expensive. Once damaged, they cannot be repaired, and frequent replacements will significantly increase the cost of the surgery. Improper manual needle withdrawal may damage the instruments, leading to increased consumable costs. Summary of the Invention

[0006] To overcome the problem that surgical robots require manual needle removal in the prior art, this invention provides a control method, system, and storage medium for automatic needle removal of a surgical robot, enabling automatic needle removal from the surgical robot.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a control method for automatic withdrawal of a surgical robot, used in a surgical robot with motion joints, wherein the motion joints include a yaw joint, a pitch joint and an actuation joint connected in sequence, comprising the following steps:

[0008] Step 1: Collect the current travel positions of the yaw joint, pitch joint, and actuator joint; wherein, the travel positions of the pitch joint, yaw joint, and actuator joint all include the upper limit position, lower limit position, and neutral position;

[0009] Step 2: If the first preset condition is met, the yaw joint and pitch joint synchronously reset to their initial positions. The first preset condition is that the current travel position of the pitch joint and the current travel position of the yaw joint are both greater than the first preset threshold and the current travel position of the actuating joint is less than the third preset threshold.

[0010] If the second preset condition is met, the pitch joint and yaw joint will be reset to their initial positions in sequence; the second preset condition is that the current travel position of the pitch joint is greater than the first preset threshold, the current travel position of the yaw joint is less than the second preset threshold, and the current travel position of the actuating joint is less than the third preset threshold.

[0011] If the third preset condition is met, the yaw joint and the pitch joint will be reset to their initial positions in sequence; the third preset condition is that the current travel position of the yaw joint is greater than the first preset threshold, the current travel position of the pitch joint is less than the second preset threshold, and the current travel position of the actuation joint is less than the third preset threshold.

[0012] If any preset condition is not met, the motion joint will synchronously reset to its initial position;

[0013] Step 3: The joint is moved to the first preset position.

[0014] In the above technical solution, the upper limit position is the limit position of the joint moving away from the target direction (lifting movement), while the lower limit position is the limit position of the joint moving towards the target direction (descending movement). The neutral position is the intermediate position between the upper and lower limit positions. The initial position is the position of the pitch joint, yaw joint, and actuating joint before performing the surgical action, which can be either the upper limit position or the neutral position.

[0015] After the robot completes surgery, when the robot needs to perform RCM movements, directly resetting the robot's joints automatically can cause the following problems: 1. If the joints are at their limit positions, and all joints automatically reset synchronously, the joints may need to move out of the workspace before returning to center (due to the need for more compensation in a certain direction). Since the target position is outside the workspace, the robot may be unable to move. 2. Pitch and yaw joints require the joints to compensate for space, causing the joints to move again in the target direction, which may damage the affected area.

[0016] Given the two scenarios described above, a first preset threshold, a second preset threshold, and a third preset threshold are set based on the current travel position of the joints that would cause either scenario. Based on these three preset thresholds, first, second, and third preset conditions are defined. When the current travel positions of the yaw, pitch, and actuation joints meet these conditions, it indicates that either of the two scenarios will occur. Therefore, a corresponding automatic reset method is adopted to ensure that the robot automatically resets while preventing motion failure or further damage to the affected area during the automatic reset process.

[0017] Preferably, in step two, if a fourth preset condition is met, the yaw joint and the pitch joint return to their initial positions after the joint moves upward to its extreme position by a first preset stroke. The fourth preset condition can be an additional exit condition, occurring during operation or exit. For example, it can be set as a safety signal; when the user triggers a safety switch, the robot receives the safety signal, indicating that the fourth preset condition is met. In this case, the joint first moves by the first preset stroke, moving it as far away from the affected area as possible before performing other operations, thereby minimizing damage to the affected area.

[0018] Preferably, after the actuating joint moves upward to its extreme position by a first preset stroke, the yaw joint and the pitch joint synchronously return to their initial positions as follows:

[0019] After the joint moves a first preset distance, if the current distance position of the yaw joint is greater than a fourth preset threshold, the yaw joint is reset to its initial position; otherwise, the position of the yaw joint remains unchanged. If the current distance position of the pitch joint is greater than a fourth preset threshold, the pitch joint is reset to its initial position; otherwise, the position of the pitch joint remains unchanged.

[0020] The purpose of setting the fourth preset threshold is to consider whether resetting the yaw and pitch joints will cause the robot to descend as a whole, or whether the robot may touch the affected area. In the case of this, the pitch and yaw joints will not move.

[0021] Preferably, the fourth preset threshold is set to the stroke position corresponding to the neutral position. If the current stroke of the yaw joint and the current stroke position of the pitch joint are greater than the fourth preset threshold, it means that the current stroke position of the yaw joint and the current stroke position of the pitch joint are between the neutral position and the lower limit position. Resetting will only cause the robot to rise. At this time, both can be reset to the neutral position so that the robot can move away from the affected area.

[0022] Preferably, the first preset stroke is a fixed movement amount or the distance between the current stroke position and the upper limit position of the actuator joint. If the distance between the current stroke position and the upper limit position of the actuator joint is less than the fixed movement amount, then the first preset stroke is the distance between the current stroke position and the upper limit position of the actuator joint; otherwise, the first preset stroke is a fixed movement amount. To ensure that the actuator joint can move quickly away from the affected area, the first preset stroke is set to a fixed movement amount. However, considering that there may be cases where the distance between the current stroke position and the upper limit position of the actuator joint is less than the fixed movement amount, making it impossible to perform a fixed movement amount, the first preset stroke becomes the distance between the current stroke position and the upper limit position of the actuator joint, thereby achieving the goal of moving the actuator joint away from the affected area as far as possible.

[0023] Preferably, the first preset threshold is the travel position between the lower limit position and the neutral position, and the corresponding joint has sufficient travel for lifting; the second preset threshold and the third preset threshold are the travel positions between the upper limit position and the neutral position; the third preset threshold is the travel position between the upper limit position and the neutral position, and the corresponding joint has limited or even insufficient lifting travel; the first preset threshold is close to the lower limit position, and the closer it is to the lower limit position, the more sufficient the lifting travel of the corresponding joint; the second preset threshold and the third preset threshold are both close to the upper limit position, and the closer they are to the lower limit position, the less sufficient the lifting travel of the corresponding joint.

[0024] Preferably, the initial position is a neutral position. By adjusting the robot's initial position to a neutral position, when the robot exits, it only needs to be reset to the neutral position, thus shortening the travel distance.

[0025] Preferably, the synchronous reset of the joint to its initial position specifically involves:

[0026] The pitch, yaw, and actuation joints move toward the initial position at speeds set according to the deviation ratio until they simultaneously reach the initial position.

[0027] A robot control system is characterized by a control method for automatically exiting a surgical robot as described above, comprising a robot, tools mounted on the robot, and a controller module, wherein the controller module is electrically connected to the robot to acquire data from the robot's motors and control the robot's movement; the controller module includes a processor for performing calculations; and the robot includes a yaw joint, a pitch joint, and an actuation joint connected in sequence.

[0028] A storage medium characterized in that it is used to store a computer program; wherein the computer program, when executed by a processor, implements the above-described control method for the automatic exit of a surgical robot.

[0029] Compared with the prior art, the beneficial effects of the present invention are: after the surgery is completed, the robot automatically selects different exit methods according to the preset conditions corresponding to the current position of the joint, ensuring that the robot can safely exit along the optimal path and avoid scratching the tissue at the location of the affected area. It can also avoid tissue traction damage caused by improper operation during traditional manual needle withdrawal, significantly reducing the requirements for doctors' operating experience, and novice doctors can also safely complete the needle withdrawal operation. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a surgical robot according to the present invention;

[0031] Figure 2 This is a structural schematic diagram of a surgical robot according to the present invention from another angle;

[0032] Figure 3 This is a flowchart of a control method for automatic exit of a surgical robot according to the present invention; Detailed Implementation

[0033] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0034] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0035] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0036] Example 1

[0037] Embodiment 1 of a control method for automatic exit of a surgical robot. This embodiment uses a control method to control a robot based on a series-parallel motor structure. The robot generally includes multiple motion joints, specifically yaw joints, pitch joints, and actuation joints connected sequentially. For specific details, refer to publication CN217244797U, "A Precision Injection Robot End Control Device," or CN218947728U, "A Multi-Degree-of-Freedom Robot." Taking "A Precision Injection Robot End Control Device" as an example, the yaw joint corresponds to the first joint seat and its two linearly moving drive mechanisms; the pitch joint corresponds to the second joint seat and its two linearly moving drive mechanisms; and the actuation joint corresponds to the end joint seat and its linearly moving end joint motor. The robot in this embodiment can be referenced from... Figure 1 and Figure 2 Of course, in other implementations, the drive mechanism can be changed to a rotary motor.

[0038] After the robot completes surgery, when the robot needs to perform RCM (Remote Motion Center) movements, the automatic reset of the robot's joints can cause the following problems: 1. If the joints are at their limit positions, and all joints automatically reset synchronously, the joints may need to move out of the workspace before returning to center (due to the need for more compensation in a certain direction). Since the target location is outside the workspace, the robot may be unable to move. 2. Pitch and yaw joints require the joints to compensate for space, causing the joints to move again in the target direction, which may damage the affected area or surrounding tissues.

[0039] The control method specifically includes the following steps:

[0040] Each value is set. In this embodiment, the travel positions of the pitch joint, yaw joint, and actuator joint all include upper limit position, lower limit position, and neutral position; in this embodiment, such as Figure 1 and 2As shown, the two linear movement drive mechanisms of the yaw joint include a first motor 100 and a second motor 200, the two linear movement drive mechanisms of the pitch joint include a third motor 300 and a fourth motor 400, and the actuation joint includes a fifth motor 500. The stroke of the first motor 100, the second motor 200, the third motor 300, the fourth motor 400, and the fifth motor 500 is defined as 0L-1L, where 0L is the upper limit position, 1L is the lower limit position, and the neutral position is defined as 0.5L. The first preset threshold is the travel distance between the lower limit position and the neutral position, where the corresponding motion joint has sufficient travel for lifting. The first preset threshold is close to the lower limit position; in this embodiment, the first preset threshold is 0.9L. The second and third preset thresholds are the travel distances between the upper limit position and the neutral position. The third preset threshold is the travel distance between the upper limit position and the neutral position, where the corresponding motion joint has limited or even insufficient lifting travel. Both the second and third preset thresholds are close to the upper limit position; in this embodiment, both the second and third preset thresholds are set to 0.1L. In actual implementations, the second and third preset thresholds can be different values, such as the second preset threshold being 0.2L and the third preset threshold being 0.1L. The initial position is the neutral position. By adjusting the robot's initial position to the neutral position, when the robot exits, it only needs to be reset to the neutral position, shortening the movement distance.

[0041] Step 1: Collect the current travel positions of the yaw joint, pitch joint, and actuator joint; when making judgments, the first motor 100 has a key influence on the lifting and lowering of the yaw joint, while the third motor 300 has a key influence on the lifting and lowering of the pitch joint. Therefore, when making conditional judgments, the travel position of the first motor 100 is used as the current travel position of the yaw joint, and the travel position of the third motor 300 is used as the current travel position of the pitch joint.

[0042] Step 2: If the first preset condition is met, the yaw joint and pitch joint synchronously reset to their initial positions. The first preset condition is that the current travel position of the pitch joint and the current travel position of the yaw joint are both greater than a first preset threshold and the current travel position of the actuator joint is less than a third preset threshold. In this embodiment, the synchronous reset of the yaw joint and pitch joint to their initial positions means that the reset action starts at the same time. If the current travel positions of the two joints are inconsistent, they will reach their initial positions at different times.

[0043] The current travel positions of the pitch and yaw joints are both greater than 0.9L, while the current travel position of the actuator joint is less than 0.1L. This means the current travel positions of the first and third motors are both greater than 0.9L, and the travel position of the fifth motor is less than 0.1L. In this case, resetting the first and third motors will only cause the robot to rise and the yaw and pitch joints to synchronously reset to their initial positions. That is, the first, second, third, and fourth motors will simultaneously move towards a position of 0.5L. Since the first and third motors have sufficient travel, the movement of the yaw and pitch joints will restore the travel of the fifth motor. Therefore, even if the travel position of the fifth motor is less than 0.1L, it will not need to move towards a position smaller than 0.1L. Thus, the fifth motor can also reset along with the others, ensuring that the robot tool does not descend towards the retina. Alternatively, the fifth motor can remain stationary.

[0044] If the second preset condition is met, the pitch joint and yaw joint will reset to their initial positions sequentially. The second preset condition is that the current travel position of the pitch joint is greater than the first preset threshold, the current travel position of the yaw joint is less than the second preset threshold, and the current travel position of the actuator joint is less than the third preset threshold. The current travel position of the pitch joint is greater than 0.9L, the current travel position of the yaw joint and the current travel position of the actuator joint are both less than 0.1L, that is, the current travel position of the third motor is greater than 0.9L, and the travel of the first motor and the fifth motor is less than 0.1L. At this time, whether the first motor or the second motor resets, the tool on the robot will descend first. Therefore, the third motor and the fourth motor need to be reset first to ensure that the robot's tool rises to a certain height first, and then the first motor and the second motor are reset to their initial positions.

[0045] If the third preset condition is met, the yaw joint and pitch joint will reset to their initial positions sequentially. The third preset condition is that the current travel position of the yaw joint is greater than the first preset threshold, the current travel position of the pitch joint is less than the second preset threshold, and the current travel position of the actuator joint is less than the third preset threshold. The current travel position of the yaw joint is greater than 0.9L, the current travel position of the pitch joint and the current travel position of the actuator joint are both less than 0.1L, that is, the current travel position of the first motor is greater than 0.9L, and the travel of the third and fifth motors is less than 0.1L. At this time, whether the third motor or the fourth motor resets, the tool on the robot will descend first. Therefore, the first motor and the second motor need to be reset first to ensure that the robot's tool rises to a certain height first, and then the third motor and the fourth motor are reset to their initial positions.

[0046] The difference between synchronous reset and sequential reset is that synchronous reset, which meets the first preset condition, allows the fifth motor to move simultaneously, while sequential reset, which meets the second and third preset conditions, requires the fifth motor to remain stationary. The reason for sequential reset is that when the pitch or yaw joint is at its limit position, synchronous reset might require the fifth motor to move out of the workspace before resetting (due to the need for more compensation in a certain direction). Since the target position is outside the workspace, this could cause the tool to stop and exit mode. Therefore, the fifth motor is kept stationary, and rotation is prioritized in the direction in which the tool would rise while the fifth motor remains stationary. Sequential reset trigger logic: First, the fifth motor's travel position is less than 0.1L, because at this point, the fifth motor can hardly rise further. If rotation requiring compensation in the 0L direction (where the fifth motor is stationary, meaning the tool would move downwards) is performed, it could potentially damage the eye. The robot's rotation causes the fifth motor to compensate in the 1L direction (where the fifth motor is stationary, meaning the tool would move upwards), ensuring the tool moves away from the affected area.

[0047] If any preset condition is not met, the motion joints will synchronously reset to their initial positions. Specifically, the pitch joint, yaw joint, and actuation joint will move toward their initial positions at speeds set according to the deviation ratio until they simultaneously reach their initial positions. If the first, second, and third preset conditions are not met, it means that there is no risk in directly resetting the robot, so the robot can directly perform the reverse movement to achieve the reset.

[0048] Step 3: The actuator joint moves to the first preset position. The first preset position can be the upper limit position, that is, the fifth motor moves to the 0L position.

[0049] The working principle or workflow of this embodiment is as follows: Based on the current travel position of the joints that would lead to the two situations mentioned above, a first preset threshold, a second preset threshold, and a third preset threshold are set respectively. Based on these three preset thresholds, a first preset condition, a second preset condition, and a third preset condition are determined. When the current travel positions of the yaw joint, pitch joint, and actuation joint meet these conditions, it indicates that the two situations mentioned above will occur. Therefore, a corresponding automatic reset method is adopted to achieve both automatic robot reset and to prevent motion failure or further damage to the affected area during the automatic reset process.

[0050] The beneficial effects of this embodiment are: after the surgery is completed, the robot automatically selects different exit methods according to the preset conditions corresponding to the current position of the joint, ensuring that the robot can safely exit along the optimal path and avoid scratching the tissue at the location of the affected area. It can also avoid tissue traction damage caused by improper operation when manually withdrawing the needle in the traditional way, which significantly reduces the requirements for the doctor's operating experience, and even novice doctors can safely complete the needle withdrawal operation.

[0051] 1. When it is necessary to perform needle withdrawal, the optimal needle withdrawal strategy is determined by a preset threshold judgment mechanism, which shortens the needle withdrawal time and prioritizes the safety of the instrument. This method significantly reduces the requirements for doctors' operating experience, and even novice doctors can safely complete the needle withdrawal operation, avoiding tissue traction damage caused by improper operation during traditional manual needle withdrawal.

[0052] 2. This includes synchronous reset, sequential reset, and direct reverse reset modes. This is because the series-parallel structure of the robot's motors may cause the target position to exceed the motor's travel distance, requiring position adjustment to ensure safe instrument withdrawal while avoiding scratching the affected area and surrounding tissues. This diverse needle withdrawal method better adapts to different surgical scenarios and instrument conditions, improving surgical safety and flexibility.

[0053] Example 2

[0054] like Figure 2 The illustration shows an embodiment 2 of a control method for the automatic withdrawal of a surgical robot. Based on embodiment 1, the difference lies in that, in step two, if a fourth preset condition is met, the yaw joint and the pitch joint are reset to their initial positions after moving the joints to their upper limit positions by a first preset stroke. Specifically:

[0055] After performing the first preset stroke of the joint movement, if the current stroke position of the yaw joint is greater than a fourth preset threshold, the yaw joint is reset to its initial position; otherwise, the position of the yaw joint remains unchanged. If the current stroke position of the pitch joint is greater than the fourth preset threshold, the pitch joint is reset to its initial position; otherwise, the position of the pitch joint remains unchanged. The fourth preset threshold is set to the stroke position corresponding to the neutral position, i.e., 0.5L. If the current stroke positions of the first motor and the second motor are greater than 0.5L, it indicates that the current stroke positions of the yaw joint and the pitch joint are between the neutral position and the lower limit position. Resetting will only cause the robot to rise. In this case, both can be reset to the neutral position, allowing the robot to move away from the affected area. If it is less than 0.5L, resetting will only cause the robot to descend, which may still cause the robot to touch the affected area. In this case, the pitch joint and yaw joint should not move.

[0056] The first preset travel distance is a fixed amount of movement or the distance between the current travel position and the upper limit position of the actuator joint. If the distance between the current travel position and the upper limit position of the actuator joint is less than the fixed amount of movement, then the first preset travel distance is the distance between the current travel position and the upper limit position of the actuator joint; otherwise, the first preset travel distance is the fixed amount of movement. To ensure that the actuator joint can move quickly away from the affected area, the first preset travel distance is set to a fixed amount of movement. In this embodiment, the fixed amount of movement is 0.1L. However, considering that the distance between the current travel position and the upper limit position of the actuator joint may be less than the fixed amount of movement, making it impossible to perform the fixed amount of movement, the first preset travel distance is changed to the distance between the current travel position and the upper limit position of the actuator joint, thereby achieving the goal of moving the actuator joint away from the affected area as far as possible.

[0057] The fourth preset condition can be an additional exit scenario, occurring during the work process or exit process. For example, it can be set as a safety signal; when the user triggers the safety switch, the robot receives the safety signal, thus satisfying the fourth preset condition. In this embodiment, the fourth preset condition addresses the situation where the patient moves on their own. In this case, the user can issue a safety signal via a foot pedal or button. The actuator joint then first moves along its first preset stroke, moving it as far away from the affected area as possible before performing other operations, thereby minimizing damage to the affected area.

[0058] The beneficial effects of this embodiment are as follows: Compared to Embodiment 1, this embodiment adds a fourth preset condition, which is equivalent to adding an emergency needle withdrawal method. When the fourth preset condition is met, the joint immediately moves towards the 0L direction, away from the affected area, and then performs other actions. The purpose is to move away from the affected area as quickly as possible and improve safety.

[0059] Example 3

[0060] An embodiment of a robotic arm control system, used to implement the control method for automatic withdrawal of a surgical robot according to any of the above embodiments, includes a robot, a tool mounted on the robot, and a controller module. The controller module is electrically connected to the robot to acquire data from the robot's motors and control the robot's movement. The controller module includes a processor for performing calculations. The robot includes a yaw joint, a pitch joint, and an actuation joint connected in sequence.

[0061] Example 4

[0062] An embodiment of a storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements a control method for the automatic exit of a surgical robot according to any of the above embodiments.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A control method for automatic withdrawal of a surgical robot, used in a surgical robot with motion joints, said motion joints comprising a yaw joint, a pitch joint, and an actuation joint connected in sequence, characterized in that, Includes the following steps: Step 1: Collect the current travel positions of the yaw joint, pitch joint, and actuator joint; wherein, the travel positions of the pitch joint, yaw joint, and actuator joint all include the upper limit position, lower limit position, and neutral position; Step 2: If the first preset condition is met, the yaw joint and pitch joint synchronously reset to their initial positions. The first preset condition is that the current travel position of the pitch joint and the current travel position of the yaw joint are both greater than the first preset threshold and the current travel position of the actuating joint is less than the third preset threshold. If the second preset condition is met, the pitch joint and yaw joint will be reset to their initial positions in sequence; the second preset condition is that the current travel position of the pitch joint is greater than the first preset threshold, the current travel position of the yaw joint is less than the second preset threshold, and the current travel position of the actuating joint is less than the third preset threshold. If the third preset condition is met, the yaw joint and the pitch joint will be reset to their initial positions in sequence; the third preset condition is that the current travel position of the yaw joint is greater than the first preset threshold, the current travel position of the pitch joint is less than the second preset threshold, and the current travel position of the actuation joint is less than the third preset threshold. If any preset condition is not met, the motion joint will synchronously reset to its initial position; Step 3: The joint is moved to the first preset position.

2. The control method for automatic withdrawal of the surgical robot according to claim 1, characterized in that, Step two also includes, if the fourth preset condition is met, the yaw joint and the pitch joint are reset to their initial positions after the joints move to their upper limit positions by a first preset stroke.

3. The control method for automatic withdrawal of the surgical robot according to claim 1, characterized in that, After the actuator joint moves to its upper limit position by a first preset stroke, the yaw joint and the pitch joint synchronously return to their initial positions. Specifically, this is as follows: After the joint moves a first preset stroke, if the current stroke position of the yaw joint is greater than a fourth preset threshold, the yaw joint is reset to its initial position; otherwise, the position of the yaw joint remains unchanged. If the current travel position of the pitch joint is greater than the fourth preset threshold, the pitch joint is reset to the initial position; otherwise, the position of the pitch joint remains unchanged.

4. The control method for automatic withdrawal of the surgical robot according to claim 3, characterized in that, The fourth preset threshold is set to the travel position corresponding to the neutral position.

5. The control method for automatic withdrawal of the surgical robot according to claim 3, characterized in that, The first preset travel is a fixed amount of movement or the distance between the current travel position and the upper limit position of the actuator joint; if the distance between the current travel position and the upper limit position of the actuator joint is less than the fixed amount of movement, then the first preset travel is the distance between the current travel position and the upper limit position of the actuator joint; otherwise, the first preset travel is a fixed amount of movement.

6. The control method for automatic withdrawal of a surgical robot according to any one of claims 1-5, characterized in that, The first preset threshold is the travel distance between the lower limit position and the neutral position; the second preset threshold and the third preset threshold are the travel distance between the upper limit position and the neutral position. The third preset threshold is the travel distance between the upper limit position and the neutral position; The first preset threshold is close to the lower limit position; the second preset threshold and the third preset threshold are both close to the upper limit position.

7. The control method for automatic withdrawal of a surgical robot according to any one of claims 1-5, characterized in that, The initial position is a neutral position.

8. The control method for automatic withdrawal of a surgical robot according to claim 1, characterized in that, The synchronous repositioning of the joints to their initial positions specifically involves: The pitch, yaw, and actuation joints move toward the initial position at speeds set according to the deviation ratio until they simultaneously reach the initial position.

9. A robot control system, characterized in that, A control method for automatically exiting a surgical robot as described in any one of claims 1-8 includes a robot, a tool mounted on the robot, and a controller module. The controller module is electrically connected to the robot to acquire data from the robot's motors and control the robot's movement. The controller module includes a processor for performing calculations. The robot includes a yaw joint, a pitch joint, and an actuation joint connected in sequence.

10. A storage medium, characterized in that, Used to store computer programs; wherein the computer programs, when executed by a processor, implement the control method for automatic exit of the surgical robot as described in any one of claims 1-8.

Images