Medical robot, control method thereof, electronic device, and medium

Abstract

The application discloses a control method of a mechanical arm of a medical robot, comprising: in response to a telecentric point calibration mode (GetRMC) trigger signal, determining position information of a telecentric point constraint reference (RCM) of the mechanical arm, and storing the position information of the telecentric point constraint reference as a global variable; in response to an operation mode selection signal, monitoring force conditions of the mechanical arm and position information of the mechanical arm based on the telecentric point constraint reference read from the global variable; and in response to a mode exit signal, storing current force (F_target) of the end of the mechanical arm, position information of the end of the surgical instrument, and distance (L_head_to_RCM) between the end of the surgical instrument at the end of the mechanical arm and the telecentric point constraint reference as a global variable. The application also provides an electronic device, a computer readable medium and a medical robot.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a medical robot, a control method for the robotic arm of the medical robot, an electronic device, and a computer-readable medium. Background Technology

[0002] Minimally invasive surgery requires the use of medical instruments such as laparoscopes and thoracoscopes. With the development of minimally invasive surgery and robot-assisted surgery, the precise control and intelligent assistance functions of robotic arms during surgery are becoming increasingly important. How to better control robotic arms in surgery has always been a pursuit in this field. Summary of the Invention

[0003] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, this invention provides a medical robot, a control method for the robotic arm of the medical robot, an electronic device, and a computer-readable medium. The control method described above controls the robotic arm of the medical robot, resulting in high intelligence, convenient operation, and a reduction in the workload of doctors.

[0004] As a first aspect of the present invention, a control method for a robotic arm of a medical robot is provided, wherein the control method includes:

[0005] In response to the telecentric point calibration mode trigger signal, the position information of the telecentric point constraint reference of the robotic arm is determined, and the position information of the telecentric point constraint reference is stored as a global variable;

[0006] In response to the operation mode selection signal, the force on the robotic arm and the position information of the robotic arm are monitored based on the centroid constraint reference read from global variables.

[0007] In response to the mode exit signal, the current force on the end of the robotic arm, the position information of the end of the surgical instrument, and the distance between the end of the surgical instrument and the distal point constraint reference are stored as global variables.

[0008] Optionally, when the operation mode selection signal is an auxiliary cutting mode trigger signal, and when the force on the end of the robotic arm is determined to be less than a first preset threshold based on the force on the robotic arm monitored by the telecentric point constraint reference read from global variables, the control method further includes:

[0009] With the centroid constraint reference as a fixed point, the rotation of the end of the robotic arm around the fixed point and the translation of the end of the robotic arm relative to the fixed point are controlled to maintain the tension at the end of the robotic arm.

[0010] When the force on the end of the surgical instrument reaches a second set threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters the telecentric point constraint follow-up mode, wherein the robotic arm can rotate around the telecentric point constraint reference under the action of external force.

[0011] Optionally, when the operation mode selection signal is an auxiliary cutting mode trigger signal, the control method further includes:

[0012] Using the direction opposite to the direction of the force applied to the end of the surgical instrument as the pulling direction, the rotational speed and direction of the end of the robotic arm about the fixed point, as well as the translational speed and direction of the end of the robotic arm relative to the fixed point, are determined.

[0013] The robotic arm is controlled to move according to the rotational speed and direction of the end of the robotic arm about the fixed point, and the speed and direction of the translation of the end of the robotic arm relative to the fixed point.

[0014] Optionally, if the force on the end of the surgical instrument reaches a second preset threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters a telecentric constrained follower mode (Floating_RMC), including:

[0015] When the force on the end of the surgical instrument reaches a second preset threshold, the flag information representing the setting of the auxiliary cutting mode is written into a global variable.

[0016] In response to the flag information representing the set auxiliary cutting mode being written into a global variable, translational movement of the end effector of the robotic arm is prohibited.

[0017] Optionally, the step of taking the direction opposite to the direction of the force applied to the end of the surgical instrument as the traction direction, and taking the operating point of the surgical instrument as the fixed point, to determine the rotational speed and direction of the end of the robotic arm about the fixed point, and the translational speed and direction of the end of the robotic arm relative to the fixed point, includes:

[0018] Construct the Jacobian matrix based on the coordinates of the origin of the surgical instrument's coordinate system in the patient's coordinate system;

[0019] The pulling direction is projected onto the motion space that satisfies the centroid constraint using the constructed Jacobian matrix to obtain a 6-dimensional target vector. In the target vector, the first 3 dimensions are the translational velocity of the end of the robotic arm relative to the fixed point, and the last 3 dimensions are the rotational velocity of the end of the robotic arm around the fixed point.

[0020] Optionally, the velocity and direction of the translation of the end effector of the robotic arm relative to the fixed point are calculated according to the following formula:

[0021] v_robot_direction = v_robot_parellal + v_robot_vertical;

[0022] v_robot_vertical=

[0023] [(Head_P*Tool_P)*v_head_vertical-(v_head_vertical*Tool_P)*Head_P] / L_ins 2 ;

[0024] v_robot_parellal=

[0025] (L_ins-L_head_to_RCM)*v_head_parellal / L_head_to_RCM;

[0026] ;

[0027] Wherein, v_robot_direction is the direction of movement of the end effector of the robotic arm;

[0028] v_robot_parellal is the motion component of the end effector of the robotic arm along the machine axis.

[0029] v_robot_vertical is the motion component of the end of the robotic arm parallel to the machine axis.

[0030] Head_P is the coordinate of the end of the surgical instrument in the patient coordinate system;

[0031] Tool_P is the coordinate of the origin of the surgical instrument coordinate system in the patient coordinate system, where the fixed point is the origin of the patient coordinate system and the fulcrum for calculating the torque;

[0032] v_head_vertical is the motion component of the end of the surgical instrument in the direction perpendicular to the instrument axis;

[0033] L_ins is the fixed total physical length of the surgical instrument;

[0034] L_head_to_RCM is the distance from the end of the surgical instrument to the fixed point;

[0035] x_rcm is the coordinate value of the fixed point on the x-axis of the patient coordinate system;

[0036] y_rcm is the coordinate value of the fixed point on the y-axis of the patient coordinate system;

[0037] z_rcm is the coordinate value of the fixed point on the z-axis of the patient coordinate system.

[0038] Optionally, if the operation mode selection signal is a free-floating mode trigger signal, the control method further includes:

[0039] The motion mode of the robotic arm is set to a full-degree-of-freedom motion control mode so that the robotic arm can move under the action of external force;

[0040] Upon receiving a signal indicating that another operating mode has been selected, the system exits the free-floating mode.

[0041] Optionally, in response to the telecentric calibration mode trigger signal, determining the position information of the telecentric constraint reference of the robotic arm includes:

[0042] Activate the free-floating mode to enable the robotic arm to move under the action of external forces;

[0043] Monitor the status of the robotic arm;

[0044] When the robotic arm transitions from a moving state to a stationary state, the position information of the end effector of the robotic arm in the world coordinate system in the current state is determined, and the position information of the end effector of the robotic arm in the world coordinate system is used as the position information of the centroid constraint reference.

[0045] Optionally, when the operation mode selection signal is the telecentric constraint follower mode (Floating_RMC), the control method further includes:

[0046] Disable the translational motion of the end effector of the robotic arm so that the robotic arm can rotate around the telecentric constraint reference under the action of an external force.

[0047] Optionally, before determining the position information of the telecentric point constraint reference of the robotic arm in response to the telecentric point calibration mode trigger signal, and storing the position information of the telecentric point constraint reference as a global variable, the control method further includes:

[0048] Multiple task instances are registered to the task queue, wherein the multiple task instances correspond to the centroid calibration mode and multiple operation modes, respectively.

[0049] Optionally, the multiple operating modes include a telecentric point calibration mode, a free-floating mode, an assisted cutting mode, and a telecentric point constrained follow-up mode;

[0050] The control method further includes at least one of the following steps:

[0051] In response to a short press signal detected from the digital interface, the robotic arm is controlled to switch from the free-floating mode to the telecentric point constrained follow-up mode, wherein the short press signal is a first-type signal with a duration of no more than 1 second;

[0052] In response to a long press signal detected from the digital interface, the robotic arm is controlled to return to the telecentric calibration mode, wherein the long press signal is a first-type signal with a duration of not less than 1 second;

[0053] In response to the detection of a second type of signal from the digital interface, the robotic arm is controlled to enter the auxiliary cutting mode, wherein the first type of signal and the second type of signal are different from each other.

[0054] As a second aspect of the present invention, an electronic device is provided, comprising:

[0055] One or more processors;

[0056] A memory having stored one or more computer programs that, when executed by one or more processors, cause the one or more processors to implement the control method according to the first aspect of the invention.

[0057] As a third aspect of the invention, a computer-readable medium is provided having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method according to the first aspect of the invention.

[0058] As a fourth aspect of the present invention, a medical robot is provided, the medical robot comprising electronic equipment and at least one robotic arm for traction of tissues, the end of the robotic arm being used to mount surgical instruments, wherein the electronic equipment is the electronic equipment provided in the third aspect of the present invention.

[0059] In this embodiment of the invention, the robotic arm has multiple operating modes. The telecentric constraint reference RCM, the end effector force F_target, the position information of the surgical instrument's end effector, and the distance L_head_to_RCM between the end effector of the surgical instrument and the telecentric constraint reference are parameters required for all operating modes. In this embodiment, these parameters are stored as global variables. After selecting an operating mode, the parameters required to control the robotic arm are read from the global variables, enabling control of the robotic arm. Similarly, before exiting the current operating mode and entering the next operating mode, the current end effector force F_target and the distance L_head_to_RCM between the end effector of the surgical instrument and the telecentric constraint reference are updated and stored in global variables for use after the robotic arm enters the next operating mode.

[0060] In this embodiment of the invention, the operation mode is equivalent to the work task, and the "global variable" is a shared data container that can solve the data sharing problem between multiple tasks, ensure that different tasks use a unified data benchmark, and avoid redundant definitions and parameter passing. Attached Figure Description

[0061] The present invention will be further described below with reference to the accompanying drawings:

[0062] Figure 1 This is a schematic diagram showing the relative positional relationship between the robotic arm and the surgical instruments;

[0063] Figure 2 This is a flowchart of one embodiment of the control method provided in this invention;

[0064] Figure 3 This is a flowchart of the control method after switching from floating mode to assisted cutting mode;

[0065] Figure 4 This is a flowchart of one implementation of step S142;

[0066] Figure 5 This is a flowchart of an optional implementation of step S141;

[0067] Figure 6 This is a flowchart of an optional implementation of step S110;

[0068] Figure 7 This is a schematic diagram of a module of one embodiment of the electronic device provided by the present invention;

[0069] Figure 8 This is a schematic diagram of the modules of the computer-readable medium provided by the present invention.

[0070] Explanation of reference numerals in the attached figures

[0071] 101: Processor; 102: Memory

[0072] 103: I / O Interface 104: Bus

[0073] 100: Surgical instruments; 200: Robotic arms

[0074] 300: Mechanical interface Detailed Implementation

[0075] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0076] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0077] like Figure 1 As shown, the surgical instrument 100 is mounted at the end of the robotic arm 200 of a medical robot. During laparoscopic surgery, holes are made in the patient's body (e.g., in the abdominal wall during laparoscopic surgery), and the surgical instrument 100 passes through these holes. In this embodiment, the surgical instrument 100 may be a traction forceps.

[0078] In the above application scenario, there are three coordinate systems: the robotic arm world coordinate system, which is usually provided by the robotic arm manufacturer, but can also be defined by the user. For example, the origin of the robotic arm can be used as the origin of the robotic arm world coordinate system, the direction perpendicular to the ground and upward can be used as the Z-axis of the world coordinate system, and the X-axis and Y-axis of the world coordinate system can be set on a horizontal plane; the patient coordinate system (in this embodiment of the invention, the patient coordinate system is a constrained coordinate system), the origin of the patient coordinate system is located at the punching point on the patient's abdominal wall, the X-axis of the patient coordinate system is parallel to the X-axis of the world coordinate system, the Y-axis of the patient coordinate system is parallel to the Y-axis of the world coordinate system, and the Z-axis of the patient coordinate system is parallel to the Z-axis of the world coordinate system; the surgical instrument coordinate system, the origin of the surgical instrument coordinate system is located at the intersection of the axis of the robotic arm's end and the axis of the surgical instrument, the X-axis of the surgical instrument coordinate system is the same as the X-axis of the coordinate system of the robotic arm's end, the Y-axis of the surgical instrument coordinate system is the same as the Y-axis of the coordinate system of the robotic arm's end, and the Z-axis of the surgical instrument coordinate system is the same as the Z-axis of the coordinate system of the robotic arm's end.

[0079] To facilitate understanding of the concept of this invention, the relationships between several coordinate systems and their transformation methods are introduced below.

[0080] Once the relative positions of the patient and the robotic arm are fixed, the distance from the world coordinate system to the patient coordinate system T_0_P is also fixed. The patient coordinate system T_0_P can be determined as follows:

[0081] The end effector of the surgical instrument is moved to the perforation point on the patient's abdominal wall, and the transformation matrix T_0_n from the world coordinate system of the robotic arm to the end effector coordinate system is obtained through the forward kinematics of the robotic arm.

[0082] The single-joint transformation matrix of the robotic arm's forward kinematics is as follows:

[0083] ;

[0084] in, i Number the joints of the robotic arm;

[0085] α i For the first robotic arm i The angle between the axis of a joint and the axis of an adjacent joint;

[0086] θ i For the first robotic arm i The range of rotation of a joint around its own axis;

[0087] d i For the first robotic arm i Offset of joints.

[0088] Accordingly, the coordinate transformation matrix from the m-th joint (containing the degrees of freedom of the m-th joint) to the n-th joint can be represented by the following formula (1):

[0089] (1)

[0090] Typically, the joint connected to the base of the robotic arm is the first joint, and the end joint of the robotic arm is the nth joint. Usually, n is 6 or 7. The transformation matrix T_0_n from the coordinate system of the base to the coordinate system of the end joint can be calculated using the above formula (1).

[0091] It should be noted that the transformation matrix from the coordinate system of the robotic arm's end effector joint to the coordinate system of the surgical instrument is determined by the mechanical mounting method of the surgical instrument. Since the end effector joint of the robotic arm and the surgical instrument are fixedly connected, and the length L of the surgical instrument is a fixed value, the transformation matrix from the coordinate system of the robotic arm's end effector joint to the coordinate system of the surgical instrument is a constant matrix, denoted here as T_n_t.

[0092] The transformation matrix from the world coordinate system of the robotic arm to the coordinate system of the surgical instrument is T_0_t = T_0_t * T_n_t.

[0093] The transformation matrix T_0_P from the robot's world coordinate system to the patient's coordinate system can be determined in the following way:

[0094] Since the end joint of the robotic arm is fixedly connected to the surgical instrument 100, the coordinates of the end of the surgical instrument in the end joint coordinate system of the robotic arm are constant, denoted as P(x,y,z).

[0095] When the end of the surgical instrument is moved to the punching point on the patient's abdominal wall, the transformation matrix T_0_n from the world coordinate system to the coordinate system of the end joint of the robotic arm is obtained through the forward kinematics of the robotic arm. Through coordinate transformation, the coordinates of the end point of the surgical instrument (i.e. the punching point on the patient's abdominal wall) in the world coordinate system can be obtained as P_0_p = T_0_n * P(x,y,z).

[0096] Given that the coordinate axes of the patient coordinate system and the world coordinate system are in the same direction, and the origin of the patient coordinate system is at coordinate P_0_p in the world coordinate system, the distance from the world coordinate system to the patient coordinate system T_0_P can be obtained, as shown in the following formula (2):

[0097] (2);

[0098] Wherein, P_0_p(1) is the X-axis coordinate of the patient's origin in the world coordinate system;

[0099] P_0_p(2) is the Y-axis coordinate of the patient's origin in the world coordinate system;

[0100] P_0_p(3) is the Z-axis coordinate of the patient's origin in the world coordinate system.

[0101] It should be noted that using the end point of the surgical instrument to mark the origin of the patient coordinate system is only an optional implementation of this invention. Any mark point on the surgical instrument can be used to mark the origin of the patient coordinate system.

[0102] As a first aspect of the present invention, a control method for the robotic arm of a medical robot is provided, wherein, as Figure 2 As shown, the control method includes:

[0103] In step S110, in response to the GetRMC trigger signal of the telecentric point calibration mode, the position information of the remote center of motion (RCM) of the robotic arm is determined, and the position information of the remote center of motion is stored as a global variable.

[0104] In step S120, in response to the operation mode selection signal, the force on the robotic arm and the position information of the robotic arm are monitored based on the telecentric point constraint reference read from the global variables.

[0105] In step S130, in response to the mode exit signal, the current force F_target at the end of the robotic arm, the position information of the end of the surgical instrument, and the distance L_head_to_RCM between the end of the surgical instrument and the distal point constraint reference are stored as global variables.

[0106] In this embodiment of the invention, the robotic arm has multiple operating modes. The telecentric constraint reference RCM, the end effector force F_target, the position information of the surgical instrument's end effector, and the distance L_head_to_RCM between the end effector of the surgical instrument and the telecentric constraint reference are parameters required for all operating modes. In this embodiment, these parameters are stored as global variables. After selecting an operating mode, the parameters required to control the robotic arm are read from the global variables, enabling control of the robotic arm. Similarly, before exiting the current operating mode and entering the next operating mode, the current end effector force F_target and the distance L_head_to_RCM between the end effector of the surgical instrument and the telecentric constraint reference are updated and stored in global variables for use after the robotic arm enters the next operating mode.

[0107] In this embodiment of the invention, the operation mode is equivalent to the work task, and the "global variable" is a shared data container that can solve the data sharing problem between multiple tasks, ensure that different tasks use a unified data benchmark, and avoid redundant definitions and parameter passing.

[0108] In this invention, no special limitation is placed on the "operation mode" of the robotic arm. As an optional implementation, in addition to the telecentric point calibration mode GetRMC mentioned above, the robotic arm can have a free floating mode Floating, an assisted cutting mode Cut_assist, and a telecentric point constrained follower mode Floating_RMC, etc.

[0109] In the telecentric calibration mode GetRMC, the operator is allowed to freely drag the robotic arm;

[0110] In the free-floating mode, six degrees of freedom motion control is enabled, allowing the operator to adjust the position of the robotic arm and surgical instruments in all directions.

[0111] In the Cut_assist auxiliary cutting mode, a traction force opposite to the force received at the end of the surgical instrument can be applied to the tissue held by the surgical instrument according to the force state of the surgical instrument, ensuring that the doctor has a good operating field of vision.

[0112] In the telecentric constrained follower mode Floating_RMC, three-degree-of-freedom rotational force control is enabled, and translational motion is constrained to allow surgical instruments to rotate around the telecentric point.

[0113] To better assist the operator in performing the surgery, optionally, such as Figure 3 As shown, when the operation mode selection signal is the auxiliary cutting mode (Cut_assist) trigger signal, and when the force on the end of the robotic arm is determined to be less than a first set threshold based on the force on the robotic arm monitored by the telecentric point constraint reference read from global variables, the control method further includes:

[0114] In step S141, with the centroid constraint reference as a fixed point, the rotation of the end of the robotic arm around the fixed point and the translation of the end of the robotic arm relative to the fixed point are controlled to maintain the tension at the end of the robotic arm.

[0115] In step S142, when the force on the end of the surgical instrument reaches a second set threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters the telecentric constraint follower mode (Floating_RMC), wherein, in the telecentric constraint follower mode, the robotic arm can rotate around the telecentric constraint reference under the action of external force.

[0116] It should be noted that steps S141 and S142 are the steps executed by the control method under the Cut_assist auxiliary cutting mode. That is, the auxiliary cutting mode is entered only after the condition of "receiving the auxiliary cutting mode trigger signal" is met, and the auxiliary pulling mode is entered only when the condition of "the force on the end of the robotic arm is less than the first preset threshold" is met.

[0117] In this embodiment of the invention, the preceding mode of the auxiliary cutting mode is not specifically limited. For example, the preceding mode of the auxiliary cutting mode can be the free-floating mode.

[0118] In an embodiment of the present invention, when the robotic arm receives a cutting mode trigger signal in a floating state, it can automatically enter the assisted cutting mode according to the force received at the end of the robotic arm. When exiting the free floating mode, the force received at the end of the surgical instrument is still recorded. This force is generated by the operator manually operating the surgical instrument and lifting the tissue, and is suitable as a reference force in the assisted cutting mode. Specifically, let F_target be denoted as F_target = [Fx_t,Fy_t,Fz_t], and the resultant force F_target_merge received at the end of the surgical instrument is:

[0119] ;

[0120] Set a first set threshold F_threshhold, denoted as F_threshhold = [Fx_th,Fy_th,Fz_th]. Correspondingly, the resultant force is expressed as:

[0121] ;

[0122] During the doctor's surgery, the robotic arm reads the force F_now received at the end of the surgical instrument in real time, denoted as F_now = [Fx_n,Fy_n,Fz_n], and the resultant force is expressed as:

[0123] .

[0124] When <F_threshhold_merge, it automatically enters the assisted cutting mode.

[0125] In the assisted cutting mode, during minimally invasive surgery, affected by the tissue characteristics, as the surgeon cuts, the traction of the surgical instrument for pulling will loosen, and correspondingly, the force received at the end of the surgical instrument will also decrease. In an embodiment of the present invention, the force received at the end of the surgical instrument is analyzed in real time. Once it is found that the force received at the end of the surgical instrument is lower than the first set threshold, the robotic arm can be triggered to move in the reverse direction of the pulling force, so that the pulling force of the surgical instrument on the patient's tissue will increase, thereby ensuring a good surgical field of view. By controlling the robotic arm through the above control method, the robotic arm can move autonomously according to the force received at the end of the surgical instrument and adjust the pulling direction. When the pulling of the surgical instrument becomes loose, the doctor does not need to manipulate the robotic arm, reducing the doctor's workload.

[0126] As mentioned above, robotic arms have a number of degrees of freedom (usually 6 or 7). In order to control the movement of surgical instruments, robotic arms need to translate and rotate. Therefore, after determining the traction direction, using a fixed point as a constraint, the rotational speed and direction of the robotic arm around the fixed point, as well as the speed and direction of the translational movement of the robotic arm relative to the fixed point, can be further determined, thereby realizing the control of the robotic arm and enabling the surgical instruments to produce the required traction movement.

[0127] The "fixed point" here refers to the "drilling point" mentioned above, which is also the telecentric point. In this embodiment of the invention, by dynamically constraining the telecentric point, it is possible to ensure that the surgical instruments move around the drilling point (or incision point), thereby avoiding unnecessary damage to the patient's tissues due to displacement of the surgical instruments relative to the drilling point and ensuring the safety of the surgical procedure.

[0128] In this embodiment of the invention, when the force on the end of the surgical instrument reaches a second preset threshold, it indicates that the tissue is under a certain traction force, which will not excessively obstruct the surgical field of view and will not affect the operator's ability to perform further surgery. In this case, switching to the telecentric constraint follow-up mode Floating_RMC task can ensure the safety of the surgery.

[0129] As an optional implementation method, such as Figure 4 As shown, when the force on the end of the surgical instrument reaches a second preset threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters a telecentric constraint follower mode, including:

[0130] In step S142a, when the force on the end of the surgical instrument reaches a second set threshold, the flag information representing the setting of the auxiliary cutting mode is written into a global variable.

[0131] In step S142b, in response to the flag information representing the setting of the auxiliary cutting mode being written into a global variable, the translational movement of the end effector of the robotic arm is prohibited.

[0132] By setting the flag, it can be further ensured that the robotic arm correctly enters the telecentric constraint follow-up mode from the auxiliary cutting mode, thus avoiding misoperation.

[0133] As an optional implementation, the second set threshold is the same as the first set threshold. That is, when > When F_threshhold_merge is executed, exit the auxiliary cutting mode.

[0134] As an optional implementation method, such as Figure 5As shown, the step of taking the direction opposite to the direction of the force applied to the end of the surgical instrument as the traction direction, and taking the operating point of the surgical instrument as the fixed point, determining the rotational speed and direction of the end of the robotic arm about the fixed point, as well as the translational speed and direction of the end of the robotic arm relative to the fixed point, includes:

[0135] In step S141a, a Jacobian matrix is ​​constructed based on the coordinates Tool_P of the origin of the surgical instrument's coordinate system in the patient's coordinate system.

[0136] In step S141b, the pulling direction is projected onto the motion space that satisfies the centroid constraint using the constructed Jacobian matrix to obtain a 6-dimensional target vector. In the target vector, the first 3 dimensions are the translational velocity of the robotic arm relative to the fixed point, and the last 3 dimensions are the rotational velocity of the robotic arm around the fixed point.

[0137] Specifically, in the step of constructing the Jacobian matrix based on the coordinates Tool_P of the origin of the surgical instrument's coordinate system in the patient's coordinate system, the Jacobian matrix is ​​constructed using the following formula (3):

[0138] J_rcm=[I3 Tool_P × (3);

[0139] Where J_rcm is the Jacobian matrix;

[0140] I3 is a third-order identity matrix;

[0141] Tool_P × The oblique symmetric operator for the coordinates of Tool_P, the origin of the surgical instrument coordinate system, in the patient coordinate system.

[0142] The Jacobian matrix is ​​the identity matrix and Tool_P × The augmented matrix, in the Jacobian matrix, has the first three columns corresponding to the translational degrees of freedom of the surgical instrument's end point, and the last three columns corresponding to the end motion of the surgical instrument mapped to the linear velocity about the fixed point, thereby ensuring that the rod of the surgical instrument can always pass through the punching point.

[0143] In step S141b, the projection of the pulling direction onto the motion space that satisfies the centroid constraint can be represented by the following formula (4):

[0144] v_robot= J_rcm'*v_head_direction(4);

[0145] Wherein, v_robot is a 6-dimensional vector, the first 3 dimensions being the translational velocity of the end of the robotic arm relative to the fixed point, and the last 3 dimensions being the rotational velocity of the end of the robotic arm around the fixed point;

[0146] J_rcm' is the pseudo-inverse of the Jacobian matrix;

[0147] v_head_direction is the desired direction of movement of the end of the surgical instrument.

[0148] When a medical robot performs tissue traction during surgery, the direction of motion of the surgical instrument's end point is opposite to the direction of the force applied to it. Therefore, the direction of motion of the surgical instrument's end point can be defined using the following formula (5):

[0149] v_head_direction = - F_head / ||F_head|| (5).

[0150] Wherein, F_head is the force exerted on the end of the surgical instrument.

[0151] In this embodiment of the invention, no special limitation is made on how to determine the force at the end of the surgical instrument. For example, a force sensor can be installed at the end of a robotic arm to detect the force at the end of the robotic arm and calculate the force at the end of the surgical instrument.

[0152] Specifically, the real-time determination of the magnitude and direction of the force acting on the tip of the surgical instrument includes:

[0153] The step involves acquiring the force on the end of the robotic arm detected by a force sensor installed at the end of the robotic arm.

[0154] The force on the end of the surgical instrument is calculated according to the following formulas (6) to (8).

[0155] F_head = (Tool_P × Fext_P) × Tool_P / ||Head_P|| 2 (6);

[0156] Head_P = Tool_P - Tool_P / ||Tool_P|| * L (7);

[0157] Fext_P = T_P_t * (-Fext_t_arm)(8);

[0158] Wherein, F_head is the force exerted on the end of the surgical instrument;

[0159] Tool_P is the coordinate of the origin of the surgical instrument coordinate system in the patient coordinate system, where the fixed point is the origin of the patient coordinate system and the fulcrum for calculating the torque;

[0160] Fext_P is the force applied to the surgical instrument by the end of the robotic arm in the patient coordinate system;

[0161] Head_P is the coordinate of the end of the surgical instrument in the patient coordinate system;

[0162] L is the length of the surgical instrument;

[0163] T_P_t is the transformation matrix from the patient coordinate system to the surgical instrument coordinate system;

[0164] Fext_t_arm is the force detected by the force sensor.

[0165] In this embodiment of the invention, the force detected by the three-dimensional force sensor at the end of the robotic arm is denoted as Fext_t_arm. According to Newton's third law, the force exerted on the mechanical interface 300 of the surgical instrument, which is used to connect with the end of the robotic arm, is -Fext_t_arm.

[0166] Accordingly, in the patient coordinate system, the force exerted by the robotic arm 200 on the mechanical interface 300 of the surgical instrument 100 is Fext_P = T_P_t * (-Fext_t_arm).

[0167] When calculating the force received at the end of the surgical instrument while it is in static equilibrium, the position of the perforation point is used as the fulcrum and origin, and the static equilibrium equation (9) is written for the surgical instrument:

[0168] Tool_P × Fext_P + Head_P × F_head = 0 (9).

[0169] After correcting the order of the cross product, the force exerted on the end of the surgical instrument 100 can be obtained:

[0170] F_head = (Tool_P × Fext_P) × Tool_P / ||Head_P|| 2 .

[0171] As another optional embodiment of the present invention, the force on the joint can be calculated by the current of the joint motor, and then the force on the end of the surgical instrument can be calculated by force mapping.

[0172] As another optional embodiment of the present invention, force sensors can be installed at each joint of the robotic arm to calculate the force on the end of the surgical instrument through force mapping.

[0173] In this embodiment of the invention, the speed and direction of the translation of the end effector of the robotic arm relative to the fixed point can be calculated according to the following formula:

[0174] v_robot_direction = v_robot_parellal + v_robot_vertical;

[0175] v_robot_vertical=

[0176] [(Head_P*Tool_P)*v_head_vertical-(v_head_vertical*Tool_P)*Head_P] / L_ins 2 ;

[0177] v_robot_parellal=

[0178] (L_ins-L_head_to_RCM)*v_head_parellal / L_head_to_RCM;

[0179] ;

[0180] Wherein, v_robot_direction is the direction of movement of the end effector of the robotic arm;

[0181] v_robot_parellal is the motion component of the end effector of the robotic arm along the machine axis.

[0182] v_robot_vertical is the motion component of the end of the robotic arm parallel to the machine axis.

[0183] Head_P is the coordinate of the end of the surgical instrument in the patient coordinate system;

[0184] Tool_P is the coordinate of the origin of the surgical instrument coordinate system in the patient coordinate system, where the fixed point is the origin of the patient coordinate system and the fulcrum for calculating the torque;

[0185] v_head_vertical is the motion component of the end of the surgical instrument in the direction perpendicular to the instrument axis;

[0186] L_ins is the fixed total physical length of the surgical instrument;

[0187] L_head_to_RCM is the distance from the end of the surgical instrument to the fixed point;

[0188] x_rcm is the coordinate value of the fixed point on the x-axis of the patient coordinate system;

[0189] y_rcm is the coordinate value of the fixed point on the y-axis of the patient coordinate system;

[0190] z_rcm is the coordinate value of the fixed point on the z-axis of the patient coordinate system.

[0191] In this embodiment of the invention, no special limitation is made on how to initiate the free-floating mode. Optionally, when the operation mode selection signal is a free-floating mode (Floating) trigger signal, the control method further includes:

[0192] The motion mode of the robotic arm is set to a full-degree-of-freedom motion control mode so that the robotic arm can move under the action of external force;

[0193] Upon receiving a signal indicating that another operating mode has been selected, the system exits the free-floating mode.

[0194] As soon as a mode selection signal other than the "free float mode trigger signal" is received, the free float mode is immediately exited, and the degree of freedom of movement of the robotic arm is restricted, thereby ensuring the safety of the surgical procedure.

[0195] In embodiments of the present invention, such as Figure 6 As shown, no special limitations are made on how to calibrate the telecentric constraint reference. Optionally, in response to the telecentric calibration mode trigger signal, determining the position information of the telecentric constraint reference (RCM) of the robotic arm includes:

[0196] In step S111, the free-floating mode is activated so that the robotic arm can move under the action of external force;

[0197] In step S112, the status of the robotic arm is monitored;

[0198] In step S113, when the robotic arm enters a stationary state from a moving state, the position information of the end of the robotic arm in the world coordinate system in the current state is determined, and the position information of the end of the robotic arm in the world coordinate system is used as the position information of the centroid constraint reference.

[0199] In step S111, the doctor can drag the robotic arm. When the end of the robotic arm is aligned with the surgical incision, the doctor will stop dragging the robotic arm. In other words, after the end of the robotic arm is aligned with the incision, the robotic arm will go from a moving state to a stationary state.

[0200] As described above, the operation mode may further include a telecentric constraint follower mode. Accordingly, when the operation mode selection signal is the telecentric constraint follower mode (Floating_RMC), the control method further includes:

[0201] In step S150, the translational motion of the end effector of the robotic arm is disabled so that the robotic arm can rotate around the telecentric constraint reference under the action of an external force.

[0202] To facilitate switching between different modes, optionally, before determining the position information of the telecentric point constraint reference (RCM) of the robotic arm in response to the telecentric point calibration mode (GetRMC) trigger signal and storing the position information of the telecentric point constraint reference as a global variable, the control method further includes:

[0203] In step S100, multiple task instances are registered to the task queue, wherein the multiple task instances correspond to the centroid calibration mode and multiple operation modes, respectively.

[0204] After executing step S100, the input signal can be monitored. In this embodiment of the invention, there are no special limitations on how the mode selection signal or the mode exit signal is input. For example, the signal can be input through any one or more of the following: a digital I / O interface (foot switch), a touch screen, and a keyboard.

[0205] As described above, the various operating modes include telecentric point calibration mode (GetRMC), free-floating mode (Floating), assisted cutting mode (Cut_assist), and telecentric point constrained follower mode (Floating_RMC). Accordingly, the control method further includes at least one of the following steps:

[0206] In response to a short press signal detected from the digital interface, the robotic arm is controlled to switch from the free-floating mode to the telecentric point constrained follow-up mode, wherein the short press signal is a first-type signal with a duration of no more than 1 second;

[0207] In response to a long press signal detected from the digital interface, the robotic arm is controlled to return to the telecentric calibration mode, wherein the long press signal is a first-type signal with a duration of not less than 1 second;

[0208] In response to the detection of a second type of signal from the digital interface, the robotic arm is controlled to enter the auxiliary cutting mode, wherein the first type of signal and the second type of signal are different from each other.

[0209] As an optional implementation, digital I / O ports (foot switches) and keyboard inputs can be used. For example, the input signals and operating modes can have the following mapping relationship:

[0210] IO14 short press (i.e., the short press signal mentioned above): switches between free float mode and telecentric mode;

[0211] IO14 long press (i.e., the long press signal mentioned above): Force return to the centroid calibration mode;

[0212] IO13 pressed (i.e., the second type of signal mentioned above): Activates the cutting assistance mode;

[0213] Number key input: Directly switch to the corresponding task.

[0214] As an optional implementation, the machine can be initialized first, and after the system initialization is completed, it will first enter the centroid calibration mode.

[0215] When the calibration button is pressed, the current end-effector coordinates Get_RCM State(x_rcm,y_rcm,z_rcm) are read based on the robot arm's forward kinematics. Before exiting the free-following mode operation process (Floating task), the current end-effector coordinates State_now(x_now,y_now,z_now) are read based on the robot arm's forward kinematics, and the distance from the end-effector to the telecentric point is calculated. :

[0216]

[0217] After the calculation is completed, the distance from the telecenter to the end of the instrument is stored as a global variable. This data is read in the assisted cutting mode and used to calculate the direction of the robotic arm's movement.

[0218] The following is a brief introduction to one application scenario of the control method provided by this invention:

[0219] During laparoscopic surgery:

[0220] The doctor first used the GetRMC model to mark the surgical incision point;

[0221] Switch to Floating mode to perform follow-up surgical procedures, and pull the tissue to expose the surgical area;

[0222] Alternatively, you can switch to Floating_RMC mode to utilize centroid constraints for more efficient operations;

[0223] When tissue needs to be cut, step on the foot switch to activate Cut_assist;

[0224] As the doctor performs surgical procedures such as cutting, the tissue tension decreases. The system senses the reduction in traction resistance and automatically assists in traction in the correct direction to help the doctor expose the surgical area, making it easier for the doctor to continue surgical procedures such as cutting.

[0225] After completing the assisted traction exercise, it automatically returns to Floating_RMC mode to standby.

[0226] The above steps together constitute an intelligent multi-task scheduling surgical assistance system, realizing a complete workflow from telecentric point calibration, instrument positioning, fine adjustment to intelligent assistance, significantly improving the accuracy, safety, and operational efficiency of surgery. Through meticulous state design and synchronization mechanisms, the system ensures that all functional modules can work collaboratively and switch quickly, providing doctors with an integrated surgical experience.

[0227] As a second aspect of the present invention, an electronic device is provided, wherein, as Figure 7 As shown, the electronic device includes:

[0228] One or more processors 101;

[0229] The memory 102 stores one or more computer programs that, when executed by the one or more processors 101, cause the one or more processors 101 to implement the control method provided according to the first aspect of the invention.

[0230] The electronic device may also include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to enable information interaction between the processor 101 and the memory 102.

[0231] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the processor and the memory, including but not limited to a data bus (Bus).

[0232] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the electronic device.

[0233] As a third aspect of the present invention, such as Figure 8 As shown, a computer-readable medium is provided having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method according to the first aspect of the present invention.

[0234] As a fourth aspect of the present invention, a medical robot is provided, the medical robot comprising electronic equipment and at least one robotic arm for traction of tissue, the end of the robotic arm being used to mount surgical instruments, wherein the electronic equipment is the electronic equipment provided in the second aspect of the present invention.

[0235] As mentioned above, during minimally invasive surgery, the movement of the robotic arm can be controlled by the force applied to the end of the surgical instrument, applying appropriate traction force to the tissue and maintaining a good surgical field of vision without increasing the surgeon's workload.

[0236] In this embodiment of the invention, the number of robotic arms in the medical robot is not specifically limited. For example, the medical robot includes four robotic arms: one for operating an endoscope, two for tissue traction, and a last for direct manipulation. In this embodiment of the invention, the control method described above is used to control the robotic arm used for traction.

[0237] In this embodiment of the invention, the number of medical robots is not specifically limited. For example, a medical robot may include a robotic arm, which is used for tissue traction.

[0238] In one embodiment, the robotic arm in this invention is used to coordinate different physical telecentric fixed points and enter the telecentric point calibration mode (GetRMC) for calibration. It can adapt to the dynamic calibration function of different holes to better assist the use of various surgical procedures.

[0239] As described above, the medical robot also includes at least one three-dimensional force sensor disposed at the end of the robotic arm to detect the force acting on the end of the robotic arm.

[0240] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can implement the methods of any of the above embodiments. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0241] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. An electronic device, characterized in that, include: One or more processors; A memory storing one or more computer programs, which, when executed by one or more processors, cause the one or more processors to implement a control method for a robotic arm of a medical robot, the control method comprising: In response to the GetRMC trigger signal of the telecentric point calibration mode, the position information of the telecentric point constraint reference RCM of the robotic arm is determined, and the position information of the telecentric point constraint reference is stored as a global variable; In response to the operation mode selection signal, the force on the robotic arm and the position information of the robotic arm are monitored based on the telecentric point constraint reference read from the global variables. The multiple operation modes of the robotic arm include the telecentric point calibration mode GetRMC, the free floating mode Floating, the assisted cutting mode Cut_assist, and the telecentric point constraint follow-up mode Floating_RMC. In response to the mode exit signal, the current force F_target at the end of the robotic arm, the position information of the end of the surgical instrument, and the distance L_head_to_RCM between the end of the surgical instrument and the distal constraint reference are stored as global variables. When the operation mode selection signal is the Cut_assist auxiliary cutting mode trigger signal, and when the force on the end of the robotic arm is determined to be less than a first preset threshold based on the force on the robotic arm monitored by the telecentric point constraint reference read from global variables, the control method further includes: Using the centroid constraint reference as a fixed point, the rotation of the end of the robotic arm around the fixed point and the translation of the end of the robotic arm relative to the fixed point are controlled to maintain the tension at the end of the robotic arm. When the force on the end of the surgical instrument reaches a second set threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters the telecentric constraint follower mode Floating_RMC, wherein the robotic arm can rotate around the telecentric constraint reference under the action of external force.

2. The electronic device according to claim 1, characterized in that, When the operation mode selection signal is the Cut_assist auxiliary cutting mode trigger signal, the control method further includes: Using the direction opposite to the direction of the force applied to the end of the surgical instrument as the pulling direction, the rotational speed and direction of the end of the robotic arm about the fixed point, as well as the translational speed and direction of the end of the robotic arm relative to the fixed point, are determined. The robotic arm is controlled to move according to the rotational speed and direction of the end of the robotic arm about the fixed point, and the speed and direction of the translation of the end of the robotic arm relative to the fixed point.

3. The electronic device according to claim 1, characterized in that, When the force on the end of the surgical instrument reaches a second preset threshold, translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters the telecentric constraint follower mode Floating_RMC, including: When the force on the end of the surgical instrument reaches a second preset threshold, the flag information representing the setting of the auxiliary cutting mode is written into a global variable. In response to the flag information representing the set auxiliary cutting mode being written into a global variable, translational movement of the end effector of the robotic arm is prohibited.

4. The electronic device according to claim 2, characterized in that, The step of determining the rotational speed and direction of the robotic arm's end about the fixed point, and the translational speed and direction of the robotic arm's end relative to the fixed point, using the direction opposite to the force applied to the end of the surgical instrument as the traction direction and the operating point of the surgical instrument as the fixed point, includes: Construct the Jacobian matrix based on the coordinates of the origin of the surgical instrument's coordinate system in the patient's coordinate system; The pulling direction is projected onto the motion space that satisfies the centroid constraint using the constructed Jacobian matrix to obtain a 6-dimensional target vector. In the target vector, the first 3 dimensions are the translational velocity of the end of the robotic arm relative to the fixed point, and the last 3 dimensions are the rotational velocity of the end of the robotic arm around the fixed point.

5. The electronic device according to claim 4, characterized in that, The velocity and direction of the translation of the end effector of the robotic arm relative to the fixed point are calculated using the following formula: v_robot_direction = v_robot_parellal + v_robot_vertical; v_robot_vertical= [(Head_P*Tool_P)*v_head_vertical-(v_head_vertical*Tool_P)*Head_P] / L_ins 2 ; v_robot_parellal= (L_ins-L_head_to_RCM)*v_head_parellal / L_head_to_RCM; ; Wherein, v_robot_direction is the direction of movement of the end effector of the robotic arm; v_robot_parellal is the motion component of the end effector of the robotic arm along the machine axis. v_robot_vertical is the motion component of the end of the robotic arm parallel to the machine axis. Head_P is the coordinate of the end of the surgical instrument in the patient coordinate system; Tool_P is the coordinate of the origin of the surgical instrument coordinate system in the patient coordinate system, where the fixed point is the origin of the patient coordinate system and the fulcrum for calculating the torque; v_head_vertical is the motion component of the end of the surgical instrument in the direction perpendicular to the instrument axis; L_ins is the fixed total physical length of the surgical instrument; L_head_to_RCM is the distance from the end of the surgical instrument to the fixed point; x_rcm is the coordinate value of the fixed point on the x-axis of the patient coordinate system; y_rcm is the coordinate value of the fixed point on the y-axis of the patient coordinate system; z_rcm is the coordinate value of the fixed point on the z-axis of the patient coordinate system.

6. The electronic device according to any one of claims 1 to 5, characterized in that, When the operation mode selection signal is a free-floating mode trigger signal, the control method further includes: The motion mode of the robotic arm is set to a full-degree-of-freedom motion control mode so that the robotic arm can move under the action of external force; Upon receiving a signal indicating that another operating mode has been selected, the system exits the free-floating mode.

7. The electronic device according to any one of claims 1 to 5, characterized in that, In response to the telecentric calibration mode trigger signal, determining the position information of the telecentric constraint reference RCM of the robotic arm includes: Activate the free-floating mode to enable the robotic arm to move under the action of external forces; Monitor the status of the robotic arm; When the robotic arm transitions from a moving state to a stationary state, the position information of the end effector of the robotic arm in the world coordinate system in the current state is determined, and the position information of the end effector of the robotic arm in the world coordinate system is used as the position information of the centroid constraint reference.

8. The electronic device according to any one of claims 1 to 5, characterized in that, When the selected operation mode signal is the centroid constraint follower mode Floating_RMC, the control method further includes: Disable the translational motion of the end effector of the robotic arm so that the robotic arm can rotate around the telecentric constraint reference under the action of an external force.

9. The electronic device according to any one of claims 1 to 5, characterized in that, Before determining the position information of the telecentric point constraint reference RCM of the robotic arm in response to the GetRMC trigger signal of the telecentric point calibration mode, and storing the position information of the telecentric point constraint reference as a global variable, the control method further includes: Multiple task instances are registered to the task queue, wherein the multiple task instances correspond to the centroid calibration mode and multiple operation modes, respectively.

10. The electronic device according to any one of claims 1 to 5, characterized in that, The control method further includes at least one of the following steps: In response to a short press signal detected from the digital interface, the robotic arm is controlled to switch from the free-floating mode to the telecentric point constrained follow-up mode, wherein the short press signal is a first-type signal with a duration of no more than 1 second; In response to a long press signal detected from the digital interface, the robotic arm is controlled to return to the telecentric calibration mode, wherein the long press signal is a first-type signal with a duration of not less than 1 second; In response to the detection of a second type of signal from the digital interface, the robotic arm is controlled to enter the auxiliary cutting mode, wherein the first type of signal and the second type of signal are different from each other.

11. A computer-readable medium having a computer program stored thereon, characterized in that, The computer program is implemented when executed by the processor. A control method for the robotic arm of a medical robot, the control method comprising: In response to the GetRMC trigger signal of the telecentric point calibration mode, the position information of the telecentric point constraint reference RCM of the robotic arm is determined, and the position information of the telecentric point constraint reference is stored as a global variable; In response to the operation mode selection signal, the force on the robotic arm and the position information of the robotic arm are monitored based on the telecentric point constraint reference read from the global variables. The multiple operation modes of the robotic arm include the telecentric point calibration mode GetRMC, the free floating mode Floating, the assisted cutting mode Cut_assist, and the telecentric point constraint follow-up mode Floating_RMC. In response to the mode exit signal, the current force F_target at the end of the robotic arm, the position information of the end of the surgical instrument, and the distance L_head_to_RCM between the end of the surgical instrument and the distal constraint reference are stored as global variables. When the operation mode selection signal is the Cut_assist auxiliary cutting mode trigger signal, and when the force on the end of the robotic arm is determined to be less than a first preset threshold based on the force on the robotic arm monitored by the telecentric point constraint reference read from global variables, the control method further includes: Using the centroid constraint reference as a fixed point, the rotation of the end of the robotic arm around the fixed point and the translation of the end of the robotic arm relative to the fixed point are controlled to maintain the tension at the end of the robotic arm. When the force on the end of the surgical instrument reaches a second set threshold, the translational movement of the end of the robotic arm is prohibited, so that the robotic arm enters the telecentric constraint follower mode Floating_RMC, wherein the robotic arm can rotate around the telecentric constraint reference under the action of external force.

12. A medical robot, comprising electronic equipment and at least one robotic arm for retracting tissue, the end of the robotic arm being used to mount surgical instruments, characterized in that, The electronic device is the electronic device described in any one of claims 1 to 10.

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