Surgical robot, control method, storage medium and control device

Abstract

The application provides a surgical robot, a control method, a storage medium and a control device. The control method of the surgical robot comprises: acquiring a plurality of first displacements of a plurality of second movable parts relative to a first reference plane when one of the second movable parts is in an unlocked state, wherein the first reference plane is perpendicular to a first straight line, and the first reference plane is fixed relative to the connecting assembly; calculating a system norm according to the plurality of first displacements; and controlling the first movable part based on the calculated system norm. The control method of the surgical robot provided by the application enables the first movable part to quickly follow the second movable part, realizes the cooperative movement of the first movable part and the second movable part, improves the adjustment efficiency of preoperative deployment and improves the usability of the surgical robot, and doctors can accurately and easily adjust the position of the operating arm to obtain the best surgical operation position, so that the surgical operation is more stable and accurate.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical robot, control method, storage medium and control device. Background Technology

[0002] Medical robots possess advantages such as accurate positioning, stable operation, high dexterity, large working range, and immunity to radiation and infection, and are widely used in various surgeries. The use of surgical micro-instruments helps improve the precision of surgeons' operations, solves problems such as hand tremors, fatigue, and muscle nerve feedback, and enables doctors to perform surgical procedures in the most comfortable state. This is of great value in improving surgical success rates and reducing patient suffering, and in recent years, its research has become a new field of medical device application.

[0003] With the increasing prevalence of surgical robots, the number of surgeries performed using them is rising annually. Therefore, making surgeries faster and safer, reducing preoperative preparation time, and improving the comfort of both doctors and patients are key concerns for surgical robots. In some multi-arm surgical robots, poor coordination between the lifting joints leads to low adjustment efficiency and increases preoperative preparation time. Summary of the Invention

[0004] This application provides a surgical robot, control method, storage medium, and control device that can improve the coordination between lifting joints.

[0005] One aspect of this application provides a control method for a surgical robot. The surgical robot includes a support device, an adjustment device disposed on the support device, and an operating device connected to the adjustment device. The adjustment device includes a first movable part, a connecting component, and a plurality of second movable parts. The first movable part is movable relative to the support device along a first straight line. The connecting component is connected to the first movable part. Each second movable part is movable relative to the connecting component along its corresponding second straight line in an unlocked state. Each second straight line is parallel to the first straight line.

[0006] The control method includes:

[0007] With one of the second active parts in the unlocked state, multiple first displacements of the multiple second active parts relative to the first reference plane are obtained, wherein the first reference plane is perpendicular to the first straight line and the first reference plane is fixed relative to the connecting component;

[0008] Calculate the system norm based on multiple first displacements;

[0009] The first active unit is controlled based on the calculated system norm.

[0010] Furthermore, controlling the first active unit based on the calculated system norm includes:

[0011] In response to the calculated system norm being greater than a first critical threshold, the first active part is controlled to move at a first target following speed.

[0012] Furthermore, the magnitude of the first target following speed is taken from the smaller value between the magnitude of the maximum limiting speed of the first active part and the magnitude of the first movement speed, the magnitude of the first movement speed being obtained according to the system norm mapping.

[0013] Furthermore, when the system norm is greater than the first critical threshold, the magnitude of the first motion speed is positively correlated with the magnitude of the system norm.

[0014] Furthermore, the first movable part has a preset zero position relative to the support device on the first straight line, and the control method further includes:

[0015] Obtain the second displacement of the current position of the first active part relative to the preset zero position;

[0016] The magnitude of the maximum limiting speed of the first moving part is determined based on the second displacement.

[0017] Further, determining the magnitude of the maximum limiting speed of the first movable part based on the second displacement includes:

[0018] In response to the fact that the magnitude of the second displacement is less than or equal to a preset limit threshold, the magnitude of the preset maximum speed of the first movable part is determined as the magnitude of the maximum limit speed of the first movable part;

[0019] In response to the second displacement being greater than the preset limit threshold, the magnitude of the second movement speed of the first movable part is mapped according to the magnitude of the second displacement, and the smaller value between the preset maximum speed of the first movable part and the magnitude of the second movement speed is determined as the maximum limit speed of the first movable part.

[0020] Furthermore, when the magnitude of the second displacement is greater than the preset limit threshold, the magnitude of the second motion speed is negatively correlated with the magnitude of the second displacement.

[0021] Furthermore, controlling the first active unit based on the calculated system norm further includes:

[0022] In response to the calculated system norm being less than or equal to the first critical threshold, the first active part is controlled to stop moving.

[0023] Furthermore, controlling the first active unit based on the calculated system norm further includes:

[0024] In response to the calculated system norm being less than or equal to a second critical threshold, the first moving part is controlled to stop moving, wherein the second critical threshold is less than the first critical threshold.

[0025] Furthermore, the control method further includes:

[0026] The operating status of the drive device of the first active part is obtained, the operating status including the start-up state and the standby state;

[0027] The control of the first active unit based on the calculated system norm further includes:

[0028] In response to the calculated system norm being greater than the second critical threshold and less than or equal to the first critical threshold, and in response to the operating state being in the start state, the first active unit is controlled to move at a second target following speed, wherein the magnitude of the second target following speed is less than the magnitude of the first target following speed.

[0029] Furthermore, the magnitude of the second target following speed is obtained based on the system norm mapping.

[0030] Furthermore, when the system norm is greater than the second critical threshold and less than or equal to the first critical threshold, the magnitude of the second target following speed is positively correlated with the magnitude of the system norm.

[0031] Furthermore, controlling the first active unit based on the calculated system norm further includes:

[0032] In response to the calculated system norm being greater than the second critical threshold and less than or equal to the first critical threshold, and in response to the operating state being a standby state, the first active part is controlled to remain stationary.

[0033] Furthermore, the surgical robot also includes a force loading device for applying a force to the second movable part in the unlocked state, and the control method further includes:

[0034] The target force applied by the force loading device is determined based on the first displacement of the second movable part in the unlocked state;

[0035] The force loading device is controlled to apply a target force to the second movable part in the unlocked state.

[0036] Further, determining the target force applied by the force loading device based on the first displacement of the second movable part in the unlocked state includes:

[0037] In response to the first displacement of the second active part in the unlocked state being greater than a third critical threshold, the target force is determined to be a first force, wherein the first force is greater than 0.

[0038] Furthermore, the magnitude of the target force is taken as the smaller of the magnitude of the maximum force of the force loading device and the magnitude of the first force, wherein the first force is obtained by mapping the magnitude of the first displacement of the second movable part in the unlocked state.

[0039] Furthermore, when the first displacement of the second active part in the unlocked state is greater than the third critical threshold, the magnitude of the target force is positively correlated with the magnitude of the first displacement of the second active part in the unlocked state.

[0040] Furthermore, determining the target force applied by the force loading device based on the first displacement of the second movable part in the unlocked state further includes:

[0041] In response to the first displacement of the second active part in the unlocked state being less than or equal to the third critical threshold, the target force is determined to be 0.

[0042] Furthermore, the system norm is the sum of the absolute values ​​of the differences between the plurality of first displacements and the average value of the plurality of first displacements.

[0043] Further, calculating the system norm based on a plurality of first displacements includes:

[0044] A second reference plane is determined based on the algebraic mean of multiple first displacements;

[0045] The system norm is obtained by calculating the sum of the distances between each of the second active parts and the second reference plane.

[0046] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described control method for a surgical robot.

[0047] Another aspect of this application provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described control method for the surgical robot.

[0048] Another aspect of this application provides a surgical robot, comprising:

[0049] Support device;

[0050] An adjustment device is provided on the support device;

[0051] An operating device connected to the adjustment device, the adjustment device including a first movable part, a connecting component, and a plurality of second movable parts, the first movable part being movable relative to the support device along a first straight line, the connecting component being connected to the first movable part, and each second movable part being movable relative to the connecting component along its corresponding second straight line in an unlocked state, each second straight line being parallel to the first straight line; and

[0052] The aforementioned control device communicates with the first movable part and a plurality of second movable parts.

[0053] Furthermore, the surgical robot also includes a force loading device for applying a force to the second movable part in the unlocked state; the control device communicates with the force loading device.

[0054] Furthermore, the first movable part is connected to the support device via a first joint, the first joint including at least one linear joint and / or at least one rotary joint.

[0055] Furthermore, each of the second movable parts is connected to the connecting assembly via a second joint, the second joint comprising at least one linear joint and / or at least one rotary joint. Attached Figure Description

[0056] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0057] Figure 1 A schematic diagram of the structure of a surgical robot according to an embodiment of this application is shown.

[0058] Figure 2 A flowchart illustrating a control method for a surgical robot according to an embodiment of this application is shown.

[0059] Figure 3 This illustration reveals a schematic diagram showing the functional relationship between the target following speed of the first active part and the system norm when the drive device of the first active part is in the activated state.

[0060] Figure 4 This invention discloses a schematic diagram showing the functional relationship between the target following speed of the first active part and the system norm when the drive device of the first active part is in a standby state.

[0061] Figure 5 A flowchart illustrating a control method for a surgical robot according to another embodiment of this application is shown.

[0062] Figure 6 Revealed Figure 5 The diagram illustrates the functional relationship between the maximum limiting speed of the first moving part and the second displacement of the first moving part in the control method shown.

[0063] Figure 7 A flowchart illustrating a control method for a surgical robot according to yet another embodiment of this application is shown.

[0064] Figure 8 Revealed Figure 7 The diagram illustrates the functional relationship between the target force applied to the unlocked second moving part and its first displacement in the control method shown. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0066] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates at least two. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," etc., are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including," etc., mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms "connected," "linked," etc., are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0067] The singular forms “a,” “the,” and “the” used in this application specification and appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0068] Remote surgical systems typically consist of two main pieces of equipment: a patient-side robotic carriage and a surgeon-side carriage, along with a visual carriage to display images viewed by the endoscopic system. The surgeon controls the movement of the patient-side robotic carriage by manipulating the master hand of the surgeon-side carriage, performing surgical procedures inside cavities such as the chest and abdomen. The patient-side robotic carriage can magnify the movements of the master hand by 2-5 times, enabling highly precise manipulation. Meanwhile, minimally invasive surgeries, such as those involving incisions in the chest and abdomen, allow surgical instruments to enter the body through these openings. This type of surgery results in less overall trauma to the body, faster postoperative recovery, and represents a current trend in surgical advancements.

[0069] A patient-side robotic trolley typically consists of three main modules: a manually controllable chassis, an adjustment arm for adjusting the position of the patient-side robotic arm, and an operating arm for performing surgical procedures. The chassis is used to quickly bring the patient-side robotic trolley closer to the patient and adjust it to a suitable position and posture relative to the patient. At the end of the operating arm is a surgical instrument holding arm, on which surgical instruments are operably mounted. These instruments can be changed and used as needed for the surgery. Surgical instruments can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, and vascular occluders; cameras for acquiring images of the surgical area, such as endoscopes; or other auxiliary surgical instruments. The surgical instrument holding arm has a cannula adapter. The cannula adapter is used to operably connect to the cannula. Surgical instruments mounted to the surgical instrument holding arm enter the body through the cannula for surgical procedures. The cannula provides some support to the axis of the surgical instrument. During the preoperative preparation stage, the cannula is first inserted into a small hole in the body, and then the surgical instrument holding arm is moved to align the cannula adapter with the cannula.

[0070] The speed of surgical robot deployment is a crucial factor in determining preoperative preparation time and is essential for the efficiency of the surgery. A key adjustment process during deployment involves individually docking the cannula adapters on each robotic arm of the patient-side robot carriage with the cannulas deployed on the patient. Typically, the patient-side robot carriage is equipped with a port-lock button. By pressing this button, the movement function is unlocked, allowing manipulation of the manipulator arms to move the cannulas forward, backward, left, right, and up and down. For example, each robotic arm has a corresponding port-lock button.

[0071] For multi-arm robots, the desired height of each robotic arm varies because the heights of the various cannulas deployed on the human body are not identical. Therefore, some patient-side robotic trolleys typically feature a central lifting joint, with each robotic arm also equipped with its own lifting joint on its adjusting arm to provide sufficient adjustment range. The inventors discovered that controlling the movement of the central lifting joint and the lifting joints of the adjusting arms independently often results in relatively low operational efficiency. For example, in some scenarios, preoperative nurses may not accurately estimate the distance and space required by the robotic arm, necessitating multiple adjustments to both types of lifting joints, significantly reducing the efficiency of preoperative deployment.

[0072] The technical solution of this application can improve or overcome the above problems, improve the efficiency of robotic arm height adjustment, and shorten the preoperative preparation time.

[0073] The surgical robot, control method, storage medium, and control device of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0074] Figure 1 A schematic diagram of the structure of a surgical robot 100 according to one embodiment of this application is shown. Figure 1 As shown, a surgical robot 100 according to one embodiment of this application can be, for example, but is not limited to, a ceiling-mounted surgical robot. The surgical robot 100 includes a support device 110, an adjustment device 120 disposed on the support device 110, an operating device 130 connected to the adjustment device 120, and a control device (not shown). The adjustment device 120 includes a first movable part 121, a connecting component 122, and a plurality of second movable parts 123. The first movable part 121 is movable relative to the support device 110 along a first straight line AA. The connecting component 122 is connected to the first movable part 121. Each second movable part 123 is movable relative to the connecting component 122 along its corresponding second straight line BB in an unlocked state. Each second straight line BB is parallel to the first straight line AA. The control device can be integrated into the support device 110 or can be a separately provided computing device, etc. The control device communicates with the first movable part 121 and the plurality of second movable parts 123.

[0075] It should be noted that, in Figure 1 In the application scenario shown, both the first line AA and the second line BB are parallel to the vertical direction. In other application scenarios, the first line AA and the second line BB can also be parallel to other directions, such as the horizontal direction or a direction inclined at a certain angle to the horizontal direction.

[0076] Multiple second movable parts 123 share a common first reference plane, which is perpendicular to the first straight line AA. Typically, the first reference plane can be a pre-selected virtual surface, such as a plane containing a point within the movement stroke of the multiple second movable parts 123, or a plane outside the movement stroke of the multiple second movable parts 123, and can be set according to actual application requirements. Within a control cycle, the first reference plane is fixed relative to the connecting assembly 122. Different reference planes can be set for each control cycle, or the same reference plane can be maintained across multiple control cycles. Generally, the starting and ending points of the movement strokes of the multiple second movable parts 123 are at the same height. Therefore, for ease of calculation, the first reference plane can be selected as the plane containing the end point (start or end point) of the movement stroke of the multiple second movable parts 123, or it can be selected as the plane containing the midpoint of the movement stroke of the multiple second movable parts 123. The movement stroke of the multiple second movable parts 123 represents the maximum range of motion of the multiple second movable parts 123 relative to the connecting assembly 122, which can be represented by [-d 123_max ,d 123_max The movement stroke of each second movable part 123 can be equal to or slightly less than the mechanical limit range at both ends of the second movable part 123. For example, the distance between the end of the movement stroke of the second movable part 123 and its mechanical limit position is set between 20 mm and 30 mm.

[0077] The first movable part 121 has a preset zero position relative to the support device 110 on the first straight line AA. Generally, the preset zero position is located at a point within the movement stroke of the first movable part 121, and can be predetermined based on actual application requirements and usage experience. Optionally, the preset zero position can be located at the midpoint of the movement stroke of the first movable part 121, or at another point close to that midpoint. For example, the ratio of the distance between the preset zero position and the midpoint to the total length of the movement stroke of the first movable part 121 is less than or equal to 3%, 5%, or 10%, etc. The movement stroke of the first movable part 121 represents the maximum range of motion of the first movable part 121, which can be represented by [-d]. 121_max ,d 121_max The movement stroke of the first movable part 121 can be equal to or slightly less than the mechanical limit range at both ends of the first movable part 121. For example, the distance between the end of the movement stroke of the first movable part 121 and its mechanical limit position is set between 20 mm and 30 mm.

[0078] It should be noted that the terms "far end" and "near end" used in this application are directional terms, where "far end" means the end that is far away from the support device 110 and "near end" means the end that is close to the support device 110.

[0079] Specifically, the adjusting device 120 includes, from proximal to distal, a first movable part 121, a connecting assembly 122, and a plurality of second movable parts 123. The supporting device 110 may include a base 111. The base 111 may be equipped with a drive device (not shown), such as a motor, to drive the first movable part 121, and a guide device (not shown), such as a guide rail, to guide the movement of the first movable part 121. The drive device communicates with a control device. Rollers 112 are provided at the bottom of the base 111 for easy movement. The connecting assembly 122 may include a central common rotary platform 1221 and a plurality of adjusting arms 1222 that can be sequentially separated on the central common rotary platform 1221. The plurality of second movable parts 123 are respectively disposed on the plurality of adjusting arms 1222.

[0080] The first movable part 121 is connected to the support device 110 via a first joint, the first joint including at least one linear joint and / or at least one rotary joint. In some application scenarios, such as Figure 1 As shown, the first movable part 121 is connected to the support device 110 via a linear joint, enabling the first movable part 121 to move relative to the support device 110 along a first straight line AA. Since the first movable part 121 needs to bear a large load, using a single linear joint can improve the stability of its movement, while also reducing the space occupied by the joint and simplifying control. However, it is understandable that in other applications, the first movable part 121 can also achieve movement relative to the support device 110 along the first straight line AA through the coordinated movement of multiple degrees of freedom. This coordinated movement of multiple degrees of freedom can be achieved through two or more joints, which can be linear joints, rotary joints, or a combination of both, as long as they enable the first movable part 121 to move relative to the support device 110 along the first straight line AA. For example, the first movable part 121 can be connected to the support device 110 via two or more linear joints.

[0081] Each second movable part 123 is connected to the connecting assembly 122 via a second joint, the second joint including at least one linear joint and / or at least one rotary joint. In some application scenarios, such as Figure 1As shown, for each second movable part 123, the second movable part 123 can be connected to the connecting assembly 122 via a linear joint to enable the second movable part 123 to move relative to the connecting assembly 122 along its corresponding second linear line BB. However, it is understood that in other application scenarios, since the second movable part 123 needs more flexibility, it can also achieve movement relative to the connecting assembly 122 along the second linear line BB through the coordinated movement of multiple degrees of freedom. The coordinated movement of multiple degrees of freedom can be achieved through two or more joints, which can be linear joints, rotary joints, or a combination of both, as long as the movement of the second movable part 123 relative to the connecting assembly 122 along its corresponding second linear line BB is achieved. For example, the second movable part 123 can be connected to the connecting assembly 122 via multiple rotary joints (e.g., three or more), wherein the axes of rotation of the multiple rotary joints are parallel to each other.

[0082] The operating device 130 may include an operating arm 131 for holding surgical instruments and performing surgical operations. The operating device 130 may include multiple operating arms 131, each connected to a plurality of second movable parts 123. Each operating arm 131 has its own remote center of motion (RCM), enabling the operating arm 131 to move the surgical instruments mounted thereon around the RCM. When the operating arm 131 is docked with the cannula 140, the RCM is located on the cannula 140. During surgery, the surgical instruments pass through the cannula 140 to enter the body for surgical operations. The position of the RCM always coincides with the position of the small opening in the body to prevent the surgical instruments from pulling on the body during movement.

[0083] In some applications, once the support device 110 reaches the target position on the patient side, it becomes locked and cannot move. Medical personnel then manually adjust the adjustment device 120 to move the manipulator 131 to the target position. For this type of manual adjustment, each manipulator 131 and / or the second movable part 123 is equipped with a port clutch button. When the port clutch button is not pressed, both the first and second joints are locked, and the second movable part 123 cannot move relative to the support device 110. When the port clutch button is pressed, the second joint can be unlocked, or both the first and second joints can be unlocked simultaneously, thereby adjusting the position of the second movable part 123 relative to the support device 110, and thus moving the manipulator 131 to the target position.

[0084] In some application scenarios, when the directions of motion of the two parallel straight lines (i.e., the first line AA and the second line BB) are at a certain angle to the horizontal direction (in... Figure 1(As shown parallel to the vertical direction), each can also be equipped with a gravity compensation mechanism (not shown) to compensate for the gravity of its respective moving part and other structures connected to it. In some examples, the gravity compensation mechanism can be implemented by a motor, a constant force spring, a counterweight, or any combination thereof. For the joint where the first moving part 121 is located, the gravity compensation mechanism can reduce the burden on the drive device, helping to improve the motion control accuracy and smoothness of the first moving part 121. For the joint where each second moving part 123 is located, the gravity compensation mechanism can reduce the burden on the user to move the second moving part 123. The user only needs to apply a small braking force to move the second moving part 123 without having to overcome the gravity of the second moving part 123 and other structures connected to its end, and the second moving part 123 can be balanced without any external force applied.

[0085] In some embodiments, the surgical robot 100 further includes a force loading device (not shown). The force loading device can be used to apply a force to the second movable part 123 in the unlocked state, and the control device communicates with the force loading device. The force applied by the force loading device to the second movable part 123 in the unlocked state is related to the position of the second movable part 123 in the unlocked state relative to the connecting assembly 122, or to a first displacement of the current position of the second movable part 123 in the unlocked state relative to the first reference plane, to implement a "virtual wall" function, preventing the second movable part 123 in the unlocked state from impacting its mechanical limit. In one example, when the first reference plane is selected as the midpoint of the travel range of the second movable part 123, the direction of the force applied by the force loading device is opposite to the direction of the first displacement of the current position of the second movable part 123 in the unlocked state relative to the first reference plane, and the magnitude of the force increases as the magnitude of the first displacement increases. Optionally, the force loading device may include a brake or a reverse motor.

[0086] exist Figure 1 In the illustrated application scenario, it is understood that since the distal end of the adjustment device 120 is close to the target surgical position, the smaller size of the multiple second movable parts 123 can reduce the space occupied near the target surgical position. Therefore, the multiple second movable parts 123 can be designed to be as miniaturized as possible. However, the lifting stroke of the miniaturized multiple second movable parts 123 alone may not meet the entire range of motion for lifting adjustments in actual use (including all application scenarios such as transportation and surgery). Therefore, the first movable part 121 needs to participate in the lifting adjustment to achieve the lifting range of motion required in all application scenarios.

[0087] Figure 2 A flowchart illustrating a control method for a surgical robot 100 according to an embodiment of this application is shown. Figure 2As shown, the control method of the surgical robot 100 in one embodiment of this application includes steps S1 to S3.

[0088] In step S1, while one of the second active parts 123 is in the unlocked state, the multiple first displacements of the multiple second active parts 123 relative to the first reference plane are obtained.

[0089] In step S2, the system norm U can be calculated based on the multiple first displacements obtained in step S1.

[0090] It is understandable that the first displacement is a vector, including magnitude and direction. In numerical calculations, the first displacement can be represented as an algebraic value. For example, the first displacement of the second movable part 123 located on the first reference plane is 0, the first displacement of the second movable part 123 located on one side of the first reference plane is positive, and the first displacement of the second movable part 123 located on the other side of the first reference plane is negative.

[0091] In some embodiments, the system norm U can be the sum of the absolute values ​​of the differences between the plurality of first displacements of the plurality of second active parts 123 and the average value of the plurality of first displacements, as shown in the following formula:

[0092]

[0093] Where U is the system norm, n is the number of multiple second active parts 123, and x i Let be the first displacement of the i-th second active part 123, which is represented as an algebraic value in numerical calculation. The average value of the first displacements of the n second movable parts 123 is expressed in numerical calculations as the algebraic mean of the first displacements of the n second movable parts 123, where, It can be represented as follows:

[0094]

[0095] In some alternative embodiments, the second reference plane can be determined based on the algebraic median of the multiple first displacements of the multiple second active parts 123.

[0096] Specifically, the algebraic mean of the multiple first displacements of the multiple second active parts 123 can be used. The positions of each second active part 123 during its movement are mapped to the plane of the second reference plane. The second reference plane is a virtual plane and is perpendicular to the second straight line BB. The algebraic sum of the distances of the multiple second active parts 123 relative to the second reference plane is zero, which can be expressed as:

[0097] d1+d2+…+d i +…+d n =0

[0098] Among them, d1, d2, d i d n These represent the algebraic values ​​of the distances of the 1st, 2nd, ith, and nth second active parts 123 relative to the second reference plane, respectively. For example, the distance of the second active part 123 located on the second reference plane is 0, the distance of the second active part 123 located on one side of the second reference plane is positive, and the distance of the second active part 123 located on the other side of the second reference plane is negative.

[0099] Then, the system norm U can be obtained by calculating the sum of the distances between the multiple second active parts 123 and the second reference plane. The system norm U is shown in the following formula:

[0100] U = |d1| + |d2| + ... + |d i |+…+|d n |

[0101] Where U represents the system norm U, |d1|, |d2|, |d i |、|d n | represents the absolute values ​​of the algebraic values ​​of the distances between the 1st, 2nd, ith, and nth second active parts 123 and the second reference plane, respectively.

[0102] Understandably, the simplest absolute value norm has been used to describe the system norm above. In fact, any norm or other mathematical form that can reflect the distance between the second active part 123 and the second reference plane can be used to describe the system norm, such as the 2-norm and the mean norm.

[0103] In step S3, the first active unit 121 can be controlled based on the system norm U calculated in step S2.

[0104] The control method of the surgical robot 100 in this embodiment calculates the system norm U based on the multiple first displacements of the multiple second movable parts 123 relative to the first reference plane, and controls the first movable part 121 based on the calculated system norm U. This allows the first movable part 121 to respond to the actions of the second movable parts 123 in the unlocked state, achieving coordinated movement between the first movable part 121 and the second movable parts 123 in the unlocked state. Simultaneously, the first movable part 121 drives other non-unlocked second movable parts 123 and their connected manipulators 131 to move together with the first movable part 121. This reduces or avoids additional adjustments to the second movable parts 123 and allows the multiple manipulators 131 to be deployed more compactly, maintaining the adjustable space of each manipulator 131 within an appropriate range and reducing or avoiding secondary adjustments to the manipulators 131. Therefore, the control method of the surgical robot 100 in this embodiment improves the usability of the surgical robot 100 and shortens preoperative preparation time.

[0105] Based on the above embodiments, step S3 may include step S31.

[0106] In step S31, in response to the calculated system norm U being greater than the first critical threshold U1, the first active unit 121 is controlled to start following, and the first active unit 121 is controlled to move at the first target following speed.

[0107] The first critical threshold U1 serves as the activation threshold for the first active unit 121, and the system norm U being greater than the first critical threshold U1 (U>U1) serves as the following determination condition for the first active unit 121. After the following determination condition of the first active unit 121 is met, the first active unit 121 follows the movement of the second active unit 123 in the unlocked state. Furthermore, the target following speed of the first active unit 121 changes in real time with the system norm U. Simultaneously, the movement of the first active unit 121 can drive the corresponding operating arms 131 of other unlocked second active units 123 to automatically follow the movement of the currently unlocked operating arm 131.

[0108] The magnitude of the first target following speed is taken from the smaller value between the magnitude of the maximum limiting speed of the first active part 121 and the magnitude of the first movement speed.

[0109] In some embodiments, the magnitude of the first motion speed is obtained by mapping based on the calculated system norm U. For example, when the system norm U is greater than a first critical threshold U1, the magnitude of the first motion speed is positively correlated with the magnitude of the system norm U, enabling the system to respond promptly to the user's operational intentions. For example, in the middle of the stroke of the second active unit 123, in response to the user's rapid operation, the first active unit 121 can correspondingly increase the follow-up response speed; at the beginning or end of the stroke of the second active unit 123, in response to the user's slow operation, the first active unit 121 can correspondingly decrease the follow-up response speed, thereby achieving a refined operation effect.

[0110] Optionally, step S3 may also include step S32.

[0111] In step S32, in response to the calculated system norm U being less than or equal to the second critical threshold U0, the first moving part 121 is controlled to stop moving, wherein the second critical threshold U0 is less than the first critical threshold U1. The first critical threshold U1 and the second critical threshold U0 can be given based on clinical practice. Generally, the difference between the second critical threshold U0 and the first critical threshold U1 is less than the second critical threshold U0.

[0112] The second critical threshold U0 serves as the stopping threshold for the first active unit 121. When the system norm U is less than or equal to the second critical threshold U0, the first active unit 121 stops following.

[0113] The second critical threshold U0 is less than the first critical threshold U1, meaning that the start threshold of the first active part 121 is greater than its stop threshold. This means that when the port clutch button is pressed, the second active part 123 needs to move a large displacement so that the system norm U is greater than the first critical threshold U1 before the first active part 121 can start following the movement of the first active part 121. This helps to avoid frequent movement of the first active part 121 when the second active part 123 moves within a small range. Once the first active part 121 is started following, it needs to move a large displacement with the second active part 123 so that the system norm U is less than the second critical threshold U0 before the first active part 121 can stop following the movement of the first active part 121. This helps to make the final stopping height of other non-unlocked second active parts 123 closer to the final stopping height of unlocked second active parts 123, allowing multiple operating arms 131 to be deployed more compactly.

[0114] In some embodiments, the control method of the surgical robot 100 of this application may further include step S4, for determining whether the first active part 121 has been activated and is following. In step S4, the operating state of the drive device of the first active part 121 is obtained, including an active state and a standby state. For example, the operating state of the drive device of the first active part 121 can be obtained by detecting the motor speed in the drive device of the first active part 121, for example, by detecting it through an encoder built into the motor. If the motor speed is greater than 0, it is determined that the drive device of the first active part 121 is in the active state; if the motor speed is equal to 0, it is determined that the drive device of the first active part 121 is in the standby state.

[0115] Furthermore, step S3 may also include step S33.

[0116] In step S33, in response to the calculated system norm U being greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, and in response to the operating state of the drive device of the first active unit 121 being in the start state, the first active unit 121 is controlled to move at the second target following speed, wherein the magnitude of the second target following speed is less than the magnitude of the first target following speed.

[0117] When the driving device of the first active part 121 is in the start state, it means that the first active part 121 has been started to follow. When the second active part 123 moves to the interval where the system norm U is greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, the first active part 121 needs to follow the second active part 123 at a smaller speed.

[0118] The magnitude of the second target following speed can be obtained by mapping the system norm U. For example, when the system norm U is greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, the magnitude of the second target following speed is positively correlated with the magnitude of the system norm U.

[0119] Figure 3 This illustration reveals a schematic diagram showing the functional relationship between the target following speed of the first active part 121 and the system norm U after the first active part 121 is activated to follow the movement, according to an embodiment of this application. Figure 3 As shown, U represents the system norm U, v 121 v represents the target following speed of the first activity unit 121. 121_max This indicates the maximum speed limit of the first active unit 121. After the first active unit 121 is activated to follow the motion, when the system norm U is greater than the first critical threshold U... vWhen the system norm U is greater than the first critical threshold U1, the first movable part 121 can follow the movement of the unlocked second movable part 123 at a first target following speed, wherein the magnitude of the first target following speed is taken as the smaller value between the magnitude of the maximum limit speed of the first movable part 121 and the magnitude of the first movement speed; when the system norm U is greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, the first movable part 121 can follow the movement of the unlocked second movable part 123 at a second target following speed, wherein the second target following speed is less than the first target following speed; when the system norm U is less than or equal to the second critical threshold U0, the first movable part 121 stops moving.

[0120] The specific functional relationship between the target following speed of the first movable part 121 and the system norm U is shown as follows:

[0121]

[0122] wherein f2(U-U0) represents the second target following speed, and f1(U-U1) represents the first movement speed, both of which are increasing functions, for example.

[0123] In Figure 3 the illustrated example, f2(U-U0) can be expressed as k2(U-U0), and f1(U-U1) can be expressed as k1(U-U1)+k2(U1-U0). Wherein k2<k1, which ensures that the second target following speed of the first movable part 121 in the interval of U0<U≤U1 is less than the first target following speed in the interval of U>U1. Therefore, in the interval of U0<U≤U1, the first movable part 121 can follow the movement of the unlocked second movable part 123 at a relatively low following speed, and in the interval of U>U1, the first movable part 121 can follow the movement of the unlocked second movable part 123 at a relatively high following speed.

[0124] The above description is made by taking the simplest linearized target following speed response of the first movable part 121 to the magnitude of the system norm U as an example. However, the response of the first movable part 121 of the present application to the system norm difference is not limited to linearized response, and any linear or non-linear response can be applied to the scenario of the present application. f2(U-U0) and f1(U-U1) can also be power functions, logarithmic functions, sine functions or other functions, or composite functions including at least one of these functions, which is not limited in the present application.

[0125] Further, the above step S3 may further include step S34.

[0126] In step S34, in response to the calculated system norm U being greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, and in response to the operating state of the drive device of the first active unit 121 being in standby state, the first active unit 121 is controlled to remain stationary.

[0127] When the drive unit of the first active unit 121 is in standby mode, it means that the first active unit 121 has not been activated for following. When the second active unit 123 moves into the interval where the system norm U is greater than the second critical threshold U0 and less than or equal to the first critical threshold U1, the condition for activating following has not been met. Therefore, the drive unit of the first active unit 121 needs to remain in standby mode, thereby keeping the first active unit 121 stationary. Thus, in the interval where the system norm U is less than or equal to the first critical threshold U1, the speed of the first active unit 121 remains zero.

[0128] Optionally, step S32 above can be replaced by step S32'.

[0129] In step S32', in response to the calculated system norm U being less than or equal to the first critical threshold U1, the first active part 121 is controlled to stop moving.

[0130] In other words, in this embodiment, only the first critical threshold U1 is set, and the second critical threshold U0 is not set. Therefore, the start threshold and stop threshold of the first active part 121 are equal, and at this time, the operating state of the drive device of the first active part 121 is not required as a condition for determining the movement speed of the first active part 121.

[0131] Figure 4 A schematic diagram illustrating the functional relationship between the target following speed and the system norm U of the first active unit 121 in another embodiment of this application is shown. Figure 4 As shown, U represents the system norm U, v 121 v represents the target following speed of the first activity unit 121. 121_max This indicates the maximum speed limit of the first active unit 121. When the system norm U is less than or equal to the first critical threshold U1, the first active unit 121 remains stationary or stops following; when the system norm U is greater than the first critical threshold U1, the first active unit 121 can follow the movement of the second active unit 123 in the unlocked state at the first target following speed.

[0132] The specific functional relationship between the first target following speed and the system norm U of the first activity unit 121 is shown below:

[0133]

[0134] Where f1(U-U1) represents the first velocity, for example, an increasing function. Figure 3In the example shown, f1(U-U1) can be represented as k1(U-U1). Of course, f1(U-U1) can also be a power function, a logarithmic function, a sine function, or other functions, or a composite function including at least one of these functions, and this application does not impose any restrictions. Figure 5 A flowchart illustrating a control method for a surgical robot 100 according to another embodiment of this application is shown. Figure 5 As shown, in some embodiments, the control method of the surgical robot 100 of this application may further include steps S5 and S6 before step S31.

[0135] In step S5, the second displacement of the current position of the first active part 121 relative to the preset zero position is obtained.

[0136] In step S6, the magnitude of the maximum limiting speed of the first moving part 121 is determined based on the second displacement obtained in step S5.

[0137] In this embodiment, through steps S5 and S6, the maximum limiting speed of the first movable part 121 can be adjusted according to the position of the first movable part 121 relative to the support device 110.

[0138] It is understood that both the second displacement and the maximum limiting velocity are vectors, including magnitude and direction. The magnitude of the maximum limiting velocity of the first moving part 121 can be determined through step S6, and its direction is the same as the direction of the second displacement.

[0139] Based on the above embodiments, step S6 may include step S61.

[0140] In step S61, in response to the second displacement of the second movable part 123 being less than or equal to a preset limit threshold, the magnitude of the preset maximum speed of the first movable part 121 is determined as the magnitude of the maximum limit speed of the first movable part 121.

[0141] The preset limit threshold is less than the movement stroke of the first moving part 121. The preset limit threshold can be set according to actual application needs and usage experience, and this application does not impose any restrictions.

[0142] In this embodiment, the maximum speed limit of the first movable part 121 is its preset maximum speed. The preset maximum speed can be determined according to actual application requirements and usage experience, but it cannot exceed the maximum speed that the first movable part 121 can physically reach.

[0143] Furthermore, step S6 may also include step S62.

[0144] In step S62, in response to the second displacement being greater than a preset limit threshold, the magnitude of the second movement speed of the first movable part 121 is mapped according to the magnitude of the second displacement, and the smaller of the magnitude of the preset maximum speed of the first movable part 121 and the magnitude of the second movement speed is determined as the magnitude of the maximum limit speed of the first movable part 121.

[0145] In step S62 of this embodiment, speed is limited near the mechanical limits at both ends of the first movable part 121 to prevent the first movable part 121 from hitting its mechanical limits during the coordinated movement, thereby improving the safety of the surgical robot 100.

[0146] In a specific example Figure 6 Revealed Figure 5 A schematic diagram illustrating the functional relationship between the maximum limiting speed of the first moving part 121 and the second displacement of the first moving part 121 in the control method shown. Figure 6 As shown, coordinate 0 represents the preset zero position of the first movable part 121, which is set at the midpoint of the movement stroke of the first movable part 121. 121 This indicates the second displacement of the first active part 121, v 121_max This indicates the maximum speed limit of the first active section 121; d 121_1 Indicates the preset limit threshold, d 121_1 and -d 121_1 Same size, opposite direction. Generally, the preset limit threshold d 121_1 Greater than 0. In the first activity section 121 Figure 6 Within the preset limit threshold shown, that is, within [-d 121_1 ,d 121_1 Within the specified range, the first movable part 121 can reach its preset maximum speed; when the first movable part 121 is not within the specified range... Figure 6 Within the preset limit threshold shown, the upper limit of speed that the first active part 121 can reach is a speed smaller than the preset maximum speed of the first active part 121.

[0147] Please refer to Figure 6 The maximum speed limit v of the first activity section 121 121_max and the second displacement d of the first active part 121 121 The specific functional relationship between them is shown below:

[0148]

[0149] Where, v′ 121_max This indicates the preset maximum speed of the first active section 121, f3(d 121 -d 121_1 ) and f4(d 121 +d 121_1) represents d 121 The second velocity under different domains, and the two can be symmetrical about the y-axis.

[0150] Based on the above embodiments, such as Figure 6 As shown, when the magnitude of the second displacement is greater than the preset limit threshold, the magnitude of the second motion velocity is negatively correlated with the magnitude of the second displacement, i.e., f3(d 121 -d 121_1 In the first quadrant, f4(d) can be a decreasing function. 121 +d 121_1 In the second quadrant, it can be an increasing function. That is, the closer the position of the first moving part 121 is to the mechanical limit position, the smaller the maximum limiting speed of the first moving part 121, thus making the movement speed of the first moving part 121 smaller, further improving the safety of the surgical robot 100.

[0151] In a specific example, f3(d 121 -d 121_1 ) can be represented as k3(d 121 -d 121_1 ), f4(d 121 +d 121_1 ) can be represented as -k3(d 121 +d 121_1 ), where k3 is the proportionality coefficient that maps the second displacement of the first active part 121 to the maximum limiting speed of the first active part 121; of course, it can also be a power function, a logarithmic function, a sine function or other functions, or a composite function in the form of a composite function including at least one of these functions, which is not limited in this application.

[0152] according to Figure 6 It can be seen that when the first moving part 121 reaches the end of its motion stroke, its maximum speed limit is 0.

[0153] Figure 7 A flowchart illustrating a control method for a surgical robot 100 according to yet another embodiment of this application is provided. Figure 7 As shown, in some embodiments, the control method of the surgical robot 100 of this application may further include steps S7 and S8.

[0154] In step S7, the target force applied by the force loading device is determined based on the first displacement of the second active part 123 in the unlocked state.

[0155] In step S8, the control force loading device applies a target force to the second active part 123, which is in the unlocked state.

[0156] The magnitude of the target force is taken as the smaller of the magnitude of the maximum force of the force loading device and the magnitude of the first force. The first force is obtained by mapping the magnitude of the first displacement of the second active part 123 in the unlocked state.

[0157] When the first displacement of the second active part 123 in the unlocked state is greater than the third critical threshold, the magnitude of the target force is positively correlated with the magnitude of the first displacement of the second active part 123 in the unlocked state.

[0158] In this embodiment, by applying a target force to the second movable part 123, the speed of the second movable part 123 near its mechanical limit positions at both ends can be reduced, thereby realizing the "virtual wall" function and preventing the second movable part 123 from hitting its mechanical limit.

[0159] It is understood that the target force is a vector, including magnitude and direction. In step S7, the magnitude and direction of the target force can be determined based on the magnitude and direction of the first displacement. The direction of the target force can be opposite to the direction of movement of the second movable part 123 to achieve the above-mentioned "virtual wall" function, thereby reducing the movement speed of the second movable part 123.

[0160] The magnitude of the target force can be determined by the magnitude of the first displacement of the second movable part 123, which can achieve more precise control, so as to prevent the second movable part 123 from hitting its mechanical limit while avoiding excessive burden on the user to move the second movable part 123.

[0161] Based on the above embodiments, step S8 may include step S81.

[0162] In step S81, in response to the first displacement of the second active part 123 in the unlocked state being greater than the third critical threshold, the target force is determined to be the first force.

[0163] In this context, the first force is greater than 0. In one example, when the first reference plane is selected as the midpoint of the movement stroke of the second movable part 123, the direction of the first force is opposite to the direction of the first displacement. A first force greater than 0 means that when the second movable part 123 is manually moved outside the third critical threshold, the force loading device applies a certain force to the second movable part 123, that is, it activates the "virtual wall" to reduce the movement speed of the second movable part 123.

[0164] It is understandable that the third critical threshold is less than the movement stroke of the second active part 123, and can be set according to application requirements and usage experience; this application does not impose any restrictions.

[0165] Furthermore, step S8 may also include step S82.

[0166] In step S82, in response to the first displacement of the second active part 123 in the unlocked state being less than or equal to the third critical threshold, the target force is determined to be 0.

[0167] In step S82 of this embodiment, the target force is 0, which means that when the second active part 123 is manually moved within the third critical threshold, the force applied by the force loading device to the second active part 123 is 0. At this time, there is no need to activate the "virtual wall" to reduce the moving speed of the second active part 123.

[0168] In a specific example Figure 8 Revealed Figure 7 The diagram illustrates the functional relationship between the target force applied to the unlocked second movable part 123 and its first displacement in the control method shown. Figure 8 As shown, coordinate 0 represents the first reference plane of the second movable part 123, which is set at the midpoint of the stroke of the second movable part 123. 123 d represents the first displacement of the second active part 123. 123_2 d represents the third critical threshold. 123_2 and -d 123_2 Same size, opposite direction; F 123 This indicates the target force applied by the force loading device to the second movable part 123 in the unlocked state; F 123_max F represents the maximum force that the force loading device can output. 123_max and -F 123_max They are the same size but opposite in direction. Understandably, theoretically, the smaller the distance between the second moving part 123 and its mechanical limit position, the greater the force required to prevent it from impacting the mechanical limit. Therefore, F 123_max This represents the maximum braking force of the brake or reverse motor. Generally, the third critical threshold d... 123_2 Greater than 0. In the second activity section 123 Figure 8 Within the third critical threshold shown, i.e., within [-d] 123_2 ,d 123_2 Within the specified range, the target force output by the force loading device remains constant at 0; in the second active part 123... Figure 8 When the third critical threshold shown is outside, the target force output by the force loading device changes with the first displacement of the second moving part 123.

[0169] Please refer to Figure 8 The target force F applied to the unlocked second active part 123 123 and its first displacement d 123 The specific functional relationship is shown below:

[0170]

[0171] Among them, f5(d 123_2 -d 123 ) and f6(d 123 +d 123_2 ) represents d 123 The first force under different domains, and the two can be rotationally symmetric.

[0172] Based on the above embodiments, when the magnitude of the first displacement is greater than the third critical threshold, the magnitude of the first force is positively correlated with the magnitude of the first displacement, such as... Figure 8 As shown, f5(d 123_2 -d 123 ) and f6(d 123 +d 123_2 Both can be decreasing functions. That is to say, within a certain range, the larger the magnitude of the first displacement, the larger the magnitude of the first force, so that when the second movable part 123 moves to a farther position, the force loading device can apply a greater force to the second movable part 123. Therefore, the closer the second movable part 123 is to the end point, the greater its motion resistance, which is more conducive to reducing its speed.

[0173] In a specific example, f5(d) 123_2 -d 123 ) can be represented as k4(d 123_2 -d 123 ), f6(d 123 +d 123_2 ) can be represented as k4(-d 123 -d 123_2 For details, please see [link / reference]. Figure 8 Where k4 represents the proportionality coefficient of the first displacement of the second moving part 123 mapped to the target force; of course, f5(d 123_2 -d 123 ) and f6(d 123 +d 123_2 It can also be a power function, a logarithmic function, a sine function or other functions, or a composite function that includes at least one of these functions; this application makes no limitation.

[0174] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the control method for the surgical robot 100 described above.

[0175] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0176] This application also provides a control device. The control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the control method for the surgical robot 100 described above.

[0177] The control device can be implemented in any suitable manner. For example, the control device can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers.

[0178] For the method embodiments, since they basically correspond to the apparatus embodiments, the relevant parts can be referred to in the description of the apparatus embodiments. The method embodiments and apparatus embodiments complement each other.

[0179] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection threshold of this application.

Claims

1. A control method for a surgical robot, characterized in that, The surgical robot includes a support device, an adjustment device disposed on the support device, and an operating device connected to the adjustment device. The adjustment device includes a first movable part, a connecting component, and a plurality of second movable parts. The first movable part is capable of moving relative to the support device along a first straight line. The connecting component is connected to the first movable part. Each second movable part is capable of moving relative to the connecting component along its corresponding second straight line in an unlocked state. Each second straight line is parallel to the first straight line. The control method includes: With one of the second active parts in the unlocked state, multiple first displacements of the multiple second active parts relative to the first reference plane are obtained, wherein the first reference plane is perpendicular to the first straight line and the first reference plane is fixed relative to the connecting component; Calculate the system norm based on multiple first displacements; Controlling the first active unit based on the calculated system norm includes: controlling the first active unit to move at a first target following speed in response to the calculated system norm being greater than a first critical threshold; and controlling the first active unit to stop moving in response to the calculated system norm being less than or equal to a second critical threshold, wherein the second critical threshold is less than the first critical threshold. The method further includes: The operating status of the drive device of the first active part is obtained, the operating status including the start-up state and the standby state; The control of the first active unit based on the calculated system norm further includes: In response to the calculated system norm being greater than the second critical threshold and less than or equal to the first critical threshold, and in response to the operating state being in the start state, the first active unit is controlled to move at a second target following speed, wherein the magnitude of the second target following speed is less than the magnitude of the first target following speed.

2. The control method according to claim 1, characterized in that, The magnitude of the first target following speed is taken from the smaller value between the magnitude of the maximum limit speed of the first active part and the magnitude of the first movement speed, and the magnitude of the first movement speed is obtained according to the system norm mapping.

3. The control method according to claim 2, characterized in that, When the system norm is greater than the first critical threshold, the magnitude of the first motion speed is positively correlated with the magnitude of the system norm.

4. The control method according to claim 2, characterized in that, The first movable part has a preset zero position relative to the support device on the first straight line, and the control method further includes: Obtain the second displacement of the current position of the first active part relative to the preset zero position; The magnitude of the maximum limiting speed of the first moving part is determined based on the second displacement.

5. The control method according to claim 4, characterized in that, Determining the magnitude of the maximum limiting speed of the first movable part based on the second displacement includes: In response to the fact that the magnitude of the second displacement is less than or equal to a preset limit threshold, the magnitude of the preset maximum speed of the first movable part is determined as the magnitude of the maximum limit speed of the first movable part; In response to the second displacement being greater than the preset limit threshold, the magnitude of the second movement speed of the first movable part is mapped according to the magnitude of the second displacement, and the smaller value between the preset maximum speed of the first movable part and the magnitude of the second movement speed is determined as the maximum limit speed of the first movable part.

6. The control method according to claim 5, characterized in that, When the magnitude of the second displacement is greater than the preset limit threshold, the magnitude of the second motion speed is negatively correlated with the magnitude of the second displacement.

7. The control method according to claim 1, characterized in that, The magnitude of the second target following speed is obtained based on the system norm mapping.

8. The control method according to claim 7, characterized in that, When the system norm is greater than the second critical threshold and less than or equal to the first critical threshold, the magnitude of the second target following speed is positively correlated with the magnitude of the system norm.

9. The control method according to claim 1, characterized in that, The control of the first active unit based on the calculated system norm further includes: In response to the calculated system norm being greater than the second critical threshold and less than or equal to the first critical threshold, and in response to the operating state being a standby state, the first active part is controlled to remain stationary.

10. The control method according to claim 1, characterized in that, The surgical robot further includes a force loading device for applying a force to the second movable part in the unlocked state, and the control method further includes: The target force applied by the force loading device is determined based on the first displacement of the second movable part in the unlocked state; The force loading device is controlled to apply a target force to the second movable part in the unlocked state.

11. The control method according to claim 10, characterized in that, Determining the target force applied by the force loading device based on the first displacement of the second movable part in the unlocked state includes: In response to the first displacement of the second active part in the unlocked state being greater than a third critical threshold, the target force is determined to be a first force, wherein the first force is greater than 0.

12. The control method according to claim 11, characterized in that, The magnitude of the target force is taken from the smaller of the magnitude of the maximum force of the force loading device and the magnitude of the first force, wherein the first force is obtained by mapping the magnitude of the first displacement of the second movable part in the unlocked state.

13. The control method according to claim 12, characterized in that, When the first displacement of the second active part in the unlocked state is greater than the third critical threshold, the magnitude of the target force is positively correlated with the magnitude of the first displacement of the second active part in the unlocked state.

14. The control method according to claim 11, characterized in that, The step of determining the target force applied by the force loading device based on the first displacement of the second movable part in the unlocked state further includes: In response to the first displacement of the second active part in the unlocked state being less than or equal to the third critical threshold, the target force is determined to be 0.

15. The control method according to any one of claims 1 to 14, characterized in that, The system norm is the sum of the absolute values ​​of the differences between the plurality of first displacements and the average value of the plurality of first displacements.

16. The control method according to any one of claims 1 to 14, characterized in that, The step of calculating the system norm based on a plurality of first displacements includes: A second reference plane is determined based on the algebraic mean of multiple first displacements; The system norm is obtained by calculating the sum of the distances between each of the second active parts and the second reference plane.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method of the surgical robot according to any one of claims 1-16.

18. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the control method for the surgical robot as described in any one of claims 1-16.

19. A surgical robot, characterized in that, include: Support device; An adjustment device is provided on the support device; An operating device connected to the adjustment device, the adjustment device including a first movable part, a connecting component and a plurality of second movable parts, the first movable part being able to move relative to the support device on a first straight line, the connecting component being connected to the first movable part, and each second movable part being able to move relative to the connecting component on its respective corresponding second straight line in an unlocked state, each second straight line being parallel to the first straight line; and The control device according to claim 18 communicates with the first movable part and the plurality of second movable parts.

20. The surgical robot according to claim 19, characterized in that, It also includes a force loading device for applying a force to the second movable part in the unlocked state; the control device communicates with the force loading device.

21. The surgical robot according to claim 19, characterized in that, The first movable part is connected to the support device via a first joint, the first joint including at least one linear joint and / or at least one rotary joint.

22. The surgical robot according to claim 19, characterized in that, Each of the second movable parts is connected to the connecting assembly via a second joint, the second joint comprising at least one linear joint and / or at least one rotary joint.

Images