Surgical robotic interactive pre-operative positioning system

Abstract

The application relates to a surgical robot system. The method comprises the following steps: controlling a mirror holding arm and an endoscope sleeve connection, acquiring target joint values of each joint of the mirror holding arm and each joint of a trolley arm of a surgical trolley according to current joint values of each joint of the mirror holding arm, respectively, controlling each joint of the mirror holding arm and each joint of the trolley arm to move from the current joint values to the target joint values, determining an optimal configuration of a tool holding arm according to the target joint values of each joint of the mirror holding arm and current joint values of each joint of the tool holding arm, and controlling each joint of the tool holding arm to move from the current joint values to the optimal configuration. By using the method, the optimal configuration of each mechanical arm of the surgical robot can be determined through visual guidance and interactive control, the positioning processing of the mechanical arm is realized based on the optimal configuration, so that collision between the mechanical arms can be avoided when the surgical robot performs a surgical operation, and the accuracy of the positioning result is improved.

Description

[0001] This application is a divisional application of the invention patent (patent application) filed on August 25, 2022, with application number 202211027935.X, entitled "Positioning Method, Apparatus and Computer Equipment for Surgical Robot". The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of medical service technology, and in particular to methods, devices and computer equipment for positioning surgical robots. Background Technology

[0003] With the application and development of robotics technology, minimally invasive surgical robots are being used more and more widely in clinical practice. Typically, before minimally invasive surgery, the robotic arm of the minimally invasive surgical robot needs to be positioned so that the instruments held by the robotic arm (such as endoscopes and surgical instruments) are connected to the corresponding surgical instrument cannulas attached to the patient.

[0004] In traditional techniques, images of the robotic arm and the surgical instrument cannula are acquired at intervals. By identifying the joints of the robotic arm and the surgical instrument cannula in the acquired images, the target positions of the robotic arm joints and the surgical instrument cannula are determined. The positioning of the robotic arm before minimally invasive surgery is achieved by using the target positions of the robotic arm joints and the surgical instrument cannula.

[0005] However, because the endoscope cannula and the surgical instrument cannula have similar shapes, a large number of images need to be collected to correctly identify the endoscope cannula and the surgical instrument cannula during the positioning of the robotic arm, which increases the amount of computation and thus increases the time required for the surgical robot to be positioned. Summary of the Invention

[0006] Therefore, it is necessary to provide surgical robot positioning methods, devices, and computer equipment to address the aforementioned technical problems.

[0007] In a first aspect, embodiments of this application provide a method for positioning a surgical robot. The surgical robot includes a surgical cart, a scope-holding arm, and a surgical arm. The surgical cart includes a cart arm. The method includes:

[0008] Control the connection between the endoscope arm and the endoscope cannula, with the endoscope cannula positioned on the surface of the target body;

[0009] Based on the current joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm, obtain the target joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm respectively.

[0010] Control the movement of each joint of the mirror-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0011] Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, the optimal configuration of the robotic arm is determined, and each joint of the robotic arm is controlled to move from the current joint value to the optimal configuration.

[0012] In one embodiment, controlling the connection between the endoscope arm and the endoscope cannula includes:

[0013] The operation signal is obtained based on the identification signal emitted by the surgical robot;

[0014] After receiving the operation signal, control the connection between the endoscope arm and the endoscope cannula, and adjust the endoscope to face the lesion area of ​​the target object.

[0015] In one embodiment, obtaining an operation signal based on an identification signal emitted by the surgical robot includes: if the identification signal emitted by the surgical robot is within a preset range of the lesion area of ​​the target object, then issuing an operation signal.

[0016] In one embodiment, based on the current joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm, target joint values ​​are obtained for each joint of the mirror-holding arm and each joint of the trolley arm, including:

[0017] The position of the fixed point of the endoscope cannula and the direction of the endoscope are calculated using positive kinematics based on the current joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm.

[0018] Based on the position of the fixed point of the endoscope cannula and the direction of the endoscope, calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm.

[0019] In one embodiment, based on the position of the fixed point of the endoscope cannula and the direction of the endoscope, the target joint values ​​of each joint of the endoscope-holding arm and each joint of the trolley arm are calculated, including:

[0020] With the constraints that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the suspension plate of the surgical robot is aligned with the direction of the endoscope, the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm are calculated using forward kinematics based on the position of the fixed point of the endoscope cannula and the direction of the endoscope.

[0021] In one embodiment, controlling the movement of each joint of the lens-holding arm and each joint of the trolley arm from the current joint value to the target joint value includes:

[0022] Based on the target joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm, plan the motion trajectory of each joint of the mirror-holding arm and each joint of the trolley arm.

[0023] Based on the movement trajectory of each joint of the mirror-holding arm and each joint of the trolley arm, control each joint of the mirror-holding arm and each joint of the trolley arm to move autonomously from the current joint value to the target joint value.

[0024] In one embodiment, after planning the motion trajectory of each joint of the lens-holding arm and each joint of the trolley arm based on the target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm, the method further includes: if the motion trajectory planning of each joint of the lens-holding arm and each joint of the trolley arm fails, the user controls the lens-holding arm joint and the trolley joint to move from the current joint value to the target joint value.

[0025] In one embodiment, the optimal configuration of the robotic arm is determined based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, including:

[0026] Based on the configuration corresponding to the target joint values ​​of each joint of the arm holding the scope, the optimal configuration of the arm holding the scope is calculated using a positioning configuration optimization method based on kinematics and collision detection.

[0027] Secondly, embodiments of this application provide a positioning device for a surgical robot. The surgical robot includes a surgical cart, a scope-holding arm, and a surgical arm. The surgical cart includes a cart arm. The device includes:

[0028] The interaction module is used to connect the endoscope arm and the endoscope cannula, which is placed on the surface of the target body.

[0029] The processing module is used to obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm.

[0030] The motion control module is used to control the movement of each joint of the lens-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0031] The optimal configuration acquisition module is used to determine the optimal configuration of the mechanical arm based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the mechanical arm, and to control each joint of the mechanical arm to move from the current joint value to the optimal configuration.

[0032] Thirdly, embodiments of this application provide a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the embodiments of the first aspect described above.

[0033] The surgical robot positioning method, device, and computer equipment provided in this application embodiment allow the surgical robot to control the connection between the endoscope arm and the endoscope cannula. The endoscope cannula is positioned on the surface of the target object. Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley, the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley are obtained respectively. The endoscope arm joints and each trolley arm joints are controlled to move from the current joint values ​​to the target joint values. Based on the target joint values ​​of each joint of the endoscope arm and the current joint values ​​of each joint of the surgical arm, the optimal configuration of the surgical arm is determined, and the surgical arm joints are controlled to move from the current joint values ​​to the optimal configuration. This method allows for interactive control of the connection between the endoscope arm and the endoscope cannula, avoiding multiple connection failures that can occur when the surgical robot directly controls the connection. This improves the connection efficiency, shortens the connection time, and further reduces the time spent positioning the surgical robot's robotic arms. Furthermore, before the surgical robot performs the procedure, visual guidance and interactive control determine the optimal configuration of each robotic arm and control its movement to this optimal configuration. This prevents collisions between the robotic arms during surgery, reducing the workload of medical staff, saving labor costs, and shortening the positioning time of the robotic arms. Ultimately, this also improves surgical precision and outcomes. Attached Figure Description

[0034] Figure 1 This is a diagram illustrating the application environment of a surgical robot positioning method in one embodiment.

[0035] Figure 2 This is a flowchart illustrating the positioning method of the surgical robot in one embodiment;

[0036] Figure 3 This is a system axial view of the surgical robot's trolley, endoscope arm, and mechanical arm in one embodiment.

[0037] Figure 4 This is an axial view of the lens-holding arm and the mechanical arm in one embodiment;

[0038] Figure 5 This is a scene diagram illustrating a method for positioning a surgical robot in one embodiment;

[0039] Figure 6 This is a flowchart illustrating the positioning method of the surgical robot in another embodiment;

[0040] Figure 7 This is a diagram showing the positional relationship between the adjustment joint of the mirror-holding arm and the projection plane of the target object in another embodiment.

[0041] Figure 8 This is a flowchart illustrating the positioning method of the surgical robot in another embodiment;

[0042] Figure 9 This is a structural block diagram of the positioning device for a surgical robot in one embodiment;

[0043] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] In clinical surgery, when surgical procedures need to be performed on a target subject, a surgical robot can be used. Before the procedure, the endoscope arms and surgical instrument arms of the surgical robot need to be properly positioned. The processing module in the surgical robot can use a series of algorithms to manage the positioning of the endoscope arms and surgical instrument arms. Typically, the corresponding cannulas for each endoscope arm and surgical instrument arm are acquired, and then the optimal target pose of the endoscope arms and surgical instrument arms is calculated. This maximizes the movement space of the surgical robot during the surgical procedure while avoiding collisions between the endoscope arms and surgical instrument arms. However, during the positioning process, because the endoscope cannulas and surgical instrument cannulas on the target subject's surface are very similar, it is difficult to distinguish between them during image recognition. To ensure that the endoscope arms and surgical instrument arms of the surgical robot are accurately connected to their corresponding cannulas, a large amount of image data needs to be collected and processed to correctly identify the endoscope cannulas and surgical instrument cannulas. This increases the computational load of the positioning process and makes the positioning process time-consuming.

[0046] Please see Figure 1 , Figure 1This is an application environment diagram of a surgical robot provided in an embodiment of this application. The application environment includes a surgical robot and an operating table. The surgical robot includes a surgical cart, a main control cart, and a vision cart. The surgical cart is used to perform surgical operations on the patient; the main control cart is used by the surgeon to control the surgical cart to perform surgical operations on the target object; and the vision cart is used to display images during the surgical process. The surgical cart includes multiple robotic arms for carrying endoscopes and surgical instruments to perform surgical operations on the target object. These include at least one endoscope-holding arm and at least one robotic arm. The total number of endoscope-holding arms and robotic arms in the surgical cart can be set according to the needs of the surgery. In one embodiment of this application, the total number of endoscope-holding arms is one, and the total number of robotic arms is three. Both the robotic arms and endoscope-holding arms contain multiple joints, enabling multi-degree-of-freedom movement. The surgical cart also includes a cart arm, which includes joints capable of multi-directional movement, including lifting, translation, and rotation. The cart arm is connected to each robotic arm via a suspension mechanism, and the movement of each joint of the cart arm can drive the entire robotic arm structure to move together.

[0047] The positioning mentioned in this application refers to the movement of the trolley arm and multiple robotic arms of the surgical trolley, enabling the robotic arms to complete their pre-operative movements and reach a suitable placement position to ensure no collision between the robotic arms during the operation. To facilitate the operation of the endoscope and surgical instruments on the target object, multiple cannulas are provided on the surface of the target object's body for the endoscope and surgical instruments to be inserted into the target object's body to perform surgical operations. The cannulas are respectively connected to the endoscope-holding arm and the robotic arm. The endoscope and surgical instruments are mounted on the corresponding robotic arms and extend into the target object's body through the cannulas.

[0048] This application provides a surgical robot positioning method that can shorten the time spent positioning the surgical robot before performing surgical operations. The surgical robot positioning method provided in this application can be applied to an interactive preoperative positioning system for surgical robots. This interactive preoperative positioning system includes an interaction module, a data acquisition module, a processing module, a motion control module, and a data acquisition device. The interaction module, data acquisition module, processing module, motion control module, and data acquisition device can all communicate with each other, and the connection method can be Wi-Fi, Bluetooth, mobile data, etc.

[0049] The interaction module allows for user-controlled connection between the endoscope arm and the endoscope cannula. User-controlled connection enables faster and more efficient prioritization of the endoscope arm's positioning, followed by automatic positioning of the entire arm. In one embodiment, the user manually drags the endoscope arm to connect to the endoscope cannula, and the interaction module responds accordingly. In other embodiments, user-controlled connection can also be achieved by inputting the endoscope cannula's position via the interaction module, allowing the endoscope arm to automatically move to the endoscope cannula's location and complete the connection.

[0050] The data acquisition module can be a device that acquires the posture of the robotic arm and the surgical trolley arm. For example, the data acquisition module can be a posture sensor, such as an encoder or a laser tracker, that measures the values ​​of each joint of the robotic arm and the surgical trolley arm. The data acquisition module can be a device that measures the values ​​of each joint of the robotic arm and the surgical trolley arm, or it can be a device that aggregates the posture values ​​measured by various sensors.

[0051] The processing module can be an electronic device with computing and data processing capabilities, including but not limited to a central processing unit, a data signal processor, a programmable logic device, etc., and this application embodiment does not limit this. The processing module can be used to calculate the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley. Furthermore, the processing module can also be used to plan the motion paths of each joint of the robotic arm and each joint of the trolley arm.

[0052] The optimal configuration acquisition module can be used to calculate the optimal configuration of the surgical arm based on the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm obtained by the processing module, as well as the current target joint values ​​of each joint of the surgical arm. The optimal configuration can be understood as the pose state in which the surgical arm and the endoscope arm do not collide when the surgical trolley is performing surgical operations, and in this pose state, each surgical arm has the maximum range of motion, which is convenient for surgical operations.

[0053] The motion control module is used to control the movement of each joint of the robotic arm and the trolley arm. It can control the movement of each joint of the robotic arm and the trolley arm based on input parameters. Specifically, the motion control module can control the movement of each joint of the endoscope arm and the trolley arm to a target joint value. Furthermore, it can control the movement of each joint of the endoscope arm from the current target joint value to the optimal configuration. The motion control module may include at least one controller. It should be noted that if the surgical robot's motion control module includes one controller, that controller can control the movement of each robotic arm and the trolley arm of the surgical trolley; if the surgical robot's motion control module includes two controllers, one controller can control the movement of each robotic arm of the surgical robot, and the other controller can control the movement of the trolley arm of the surgical trolley; if the surgical robot includes multiple controllers, one controller can control the movement of the surgical trolley of the surgical robot, another controller can control the movement of the endoscope arm, and the other controllers can control the movement of each endoscope arm of the surgical trolley.

[0054] The acquisition device can be an electronic device with data acquisition and data transmission / reception capabilities. For example, the acquisition device may include electronic devices capable of acquiring three-dimensional information in the surgical environment, such as depth cameras, laser scanners, CT / MR systems, etc. The depth camera may also include cameras based on time-of-flight (TOF), structured light, binocular depth vision, etc., and this application does not limit this. The acquisition device is used to acquire three-dimensional data of the environment, and the acquisition device can be installed in... Figure 1 The acquisition device can be mounted on the surgical cart shown, but it can also be mounted on the surgical light, the visual cart, or any other location that can be aligned with the cannula. This application embodiment does not limit this. The acquisition device can be installed on the surgical cart, the surgical light, the visual cart, or any other location that can operate the surgical area via a pan-tilt head, so as to adjust the acquisition field of view of the acquisition device.

[0055] Furthermore, the suspension mechanism is also equipped with a transmitting module for transmitting identification signals. The operation signals are obtained based on the identification signals and are used to indicate and control the connection between the endoscope arm and the endoscope cannula.

[0056] In one embodiment of this application, when the user controls the connection between the endoscope arm and the endoscope cannula, the acquisition device acquires an image of the endoscope cannula and sends the image to the processing module. The processing module can obtain the pose of the endoscope cannula based on the acquired image, and then the interaction module controls the endoscope arm to automatically connect with the endoscope cannula.

[0057] Furthermore, after confirming that the endoscope arm and endoscope cannula are successfully connected, the processing module can output relevant connection information. Upon receiving this connection confirmation, medical personnel can trigger the vertical lifting device start button or control on the surgical cart. The surgical cart's controller, upon receiving the start command, activates the vertical lifting device to fix the surgical cart's position. It should be noted that because the surgical robot and operating table are independently configured, activating the vertical lifting device to fix the surgical cart prevents it from sliding and affecting the surgical procedure.

[0058] While this application provides method operation steps as shown in the following embodiments or accompanying drawings, more or fewer operation steps may be included in this method based on conventional or non-inventive methods. The surgical robot positioning method proposed in this application will be described below with reference to the accompanying drawings, and the specific process of the surgical robot positioning method will be introduced using an interactive preoperative positioning system for the surgical robot as the executing entity. Figure 2 This is a flowchart illustrating a surgical robot positioning method provided in this application, which may include the following steps:

[0059] S100, control the connection between the endoscope arm and the endoscope cannula.

[0060] In this embodiment, an endoscope cannula is disposed on the surface of the target body and is used to connect to the endoscope-holding arm, thereby allowing the endoscope mounted on the endoscope-holding arm to extend into the target body through the endoscope cannula. The endoscope is inserted into the target body through the endoscope cannula to acquire visual images of the lesion area. In a more specific embodiment, the connection between the endoscope-holding arm and the endoscope cannula is controlled by the operator manually dragging the endoscope-holding arm to connect with the endoscope cannula disposed on the target body surface. This allows for a quick and convenient connection between the endoscope-holding arm and the endoscope cannula, avoiding the problem of ineffective identification of the endoscope cannula and instrument cannula during automatic connection, thus shortening the positioning time of the endoscope-holding arm and improving its positioning efficiency.

[0061] During the surgical procedure performed by the surgical robot, medical staff can use an endoscope to observe the lesion area and the insertion of subsequent surgical instruments. Therefore, during the surgical procedure, it is necessary to first insert the endoscope into the target body to collect relevant images of the surgical site.

[0062] S200. Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley.

[0063] Specifically, the mirror-holding arm is composed of multiple joints connected together, with adjacent joints being movably connected; the trolley arm also has multiple joints, with adjacent joints also being movably connected, and the joint at the end of the trolley arm is connected to the joint of the robotic arm via a suspension mechanism. For example... Figure 3 This is a system axial diagram of the surgical robot's carriage arm and robotic arm, where the axial structure between the endoscope arm and the robotic arm is shown below. Figure 4 As shown.

[0064] It should be noted that the current joint values ​​of each joint of the endoscope-holding arm can be understood as the initial pose of each joint of the endoscope-holding arm after it is connected to the endoscope cannula, i.e., the initial position and initial posture of each joint of the endoscope-holding arm. In this embodiment, to avoid collisions between the endoscope-holding arm and the surgical arm during surgical operations and to ensure that the robotic arm has maximum operable space, the current joint values ​​of all or some joints of the endoscope-holding arm need to be adjusted after connecting the endoscope-holding arm to the endoscope cannula. Simultaneously, to maintain a reasonable positional relationship between the surgical robot's robotic arm and the lesion area of ​​the target object, thereby improving the ease of operation of the surgical robot, the joints of the trolley arm need to be adjusted accordingly to ensure a reasonable relative position between the robotic arm and the target object on the operating table.

[0065] In one embodiment of this application, the surgical robot acquires the joint values ​​of each joint of the endoscope-holding arm and each joint of the trolley arm via a data acquisition module. Further, angle sensors, such as encoders, are installed at each joint of the endoscope-holding arm and each joint of the trolley arm to measure the joint values. The data acquisition module can then aggregate the aforementioned joint value information. In another embodiment of this application, the surgical robot can also acquire information about each joint of the endoscope-holding arm and each joint of the trolley arm via a data acquisition device, and then the processing module calculates the corresponding joint values.

[0066] Furthermore, after obtaining the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, the processing module calculates the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm based on the principle of forward kinematics, according to the current joint values ​​of each joint of the endoscope arm, the current joint values ​​of each joint of the trolley arm, and the location of the lesion area of ​​the target object.

[0067] S300: Control each joint of the lens-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value.

[0068] Based on the acquired target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm, the motion control module can control the movement of each joint of the lens-holding arm and each joint of the trolley arm to the target joint value position. Those skilled in the art should understand that this control can be performed automatically or by guiding the user. In one embodiment of this application, before controlling the movement of each joint of the lens-holding arm and each joint of the trolley arm from the current joint value to the target joint value, a processing module is further included to plan the motion path based on the current joint values ​​and target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm.

[0069] In this process, after the processing module plans the motion paths of each joint of the scope-holding arm and each joint of the trolley arm, the motion control module controls these joints to move to the target joint values. It should be noted that the paths planned by the processing module should be the paths to the target joint values ​​without collision between the scope-holding arm and the robotic arm. After obtaining the target joint values ​​and planned motion paths for each joint of the scope-holding arm and each joint of the trolley arm, the processing module sends control commands to the motion control module, which then controls the joints of the scope-holding arm and the trolley arm to move to the target joint value positions according to the planned paths.

[0070] S400: Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, determine the optimal configuration of the robotic arm and control each joint of the robotic arm to move from the current joint value to the optimal configuration.

[0071] Specifically, the processing module can employ an anti-collision algorithm to determine the optimal configuration of the robotic arm based on the target joint values ​​of each joint of the endoscope arm and the current joint values ​​of each joint of the robotic arm. It can then generate motion control commands for the robotic arm based on this optimal configuration and send these commands to the motion control module, which receives and responds to the commands, controlling each joint of the robotic arm to move from its current joint value to the optimal configuration. It is important to note that when the joints of the robotic arm move from their current joint values ​​to the optimal configuration, it ensures that no collisions occur between the endoscope arms during the movement. Furthermore, at the optimal configuration position, sufficient space is guaranteed between the endoscope arms and the robotic arm during the surgical procedure, preventing collisions between them.

[0072] In this embodiment, angle sensors are also provided at each joint of the robotic arm to acquire the joint values ​​of each joint. Specifically, the angle sensors can be encoders, etc. In determining the optimal configuration of the robotic arm based on the target joint values ​​and current joint values ​​of each joint, it is necessary to identify the corresponding instrument sleeve. In one embodiment of this application, the position of the sleeve is acquired using a data acquisition device, and the sleeve is correlated with the robotic arm. Then, the optimal configuration of the robotic arm is calculated based on kinematic principles and collision detection algorithms. To differentiate between different instrument sleeves, in one embodiment of this application, markers can be placed on the sleeves, and the data acquisition device can be used to collect information for identification. Figure 5 The example shown is a scenario diagram using any robotic arm of a surgical robot, an operating table, and the target object lying on the operating table. Figure 5 The robotic arm in the device can be either a scope-holding arm or a robotic arm. The target body surface is equipped with an endoscope cannula and an instrument cannula, and the surgical instrument cannula is marked with markers. To improve the identification of different instrument cannulas, the markers can be set to different markers, for example, markers of different colors, different sizes, etc.

[0073] The surgical robot positioning method provided in this application embodiment can control the connection between the endoscope arm and the endoscope cannula. The endoscope cannula is a cannula set on the surface of the target object. Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm are obtained respectively. The method controls each joint of the endoscope arm and each joint of the trolley arm to move from the current joint value to the target joint value. Based on the target joint values ​​of each joint of the endoscope arm and the current joint values ​​of each joint of the surgical arm, the optimal configuration of the surgical arm is determined, and the method controls each joint of the surgical arm to move from the current joint value to the optimal configuration. This method allows for interactive control of the connection between the endoscope arm and the endoscope cannula, avoiding multiple connection failures that can occur when the surgical robot directly controls the connection. This reduces image acquisition and positioning calculations, further improving the connection efficiency and shortening the time required for connection. It also reduces the time spent positioning the surgical robot's robotic arms. Furthermore, before the surgical robot performs the procedure, visual guidance and interactive control determine the optimal configuration of each robotic arm and control its movement to this optimal configuration. This prevents collisions between the robotic arms during surgery, reducing the burden on medical staff, saving labor costs, and shortening the positioning time. Ultimately, it also improves surgical precision and outcomes.

[0074] In this embodiment, the surgical robot operates in a sterile operating room. Therefore, in order to maintain a sterile environment in the operating room, a sterile cover needs to be installed on the surgical robot before performing the above-described S100. The specific installation process is as follows:

[0075] (1) Obtain the aseptic processing prompt information output on the display of the surgical robot to instruct medical staff to install the aseptic cover on the surgical robot;

[0076] (2) When medical staff trigger the unfold button or unfold control on the surgical robot, the controller of the surgical robot receives and responds to the trigger command and controls the surgical robot to unfold. After the unfolding action is completed, the display screen of the surgical robot will output relevant information about the successful unfolding, or the surgical robot will output voice prompts about the successful unfolding. If the controller of the surgical robot does not receive the trigger command corresponding to unfolding, the surgical robot will be in the prohibited movement mode.

[0077] (3) After receiving the information that the deployment was successful or the voice prompt that the deployment was successful, the medical staff began to manually install the sterile cover on the surgical robot.

[0078] (4) After the sterile cover is installed, the medical staff will trigger the retraction button or retraction control on the surgical robot. The controller of the surgical robot will receive and respond to the trigger command and control the surgical robot to retract. After the retraction action is completed, the display screen of the surgical robot will output relevant information about successful retraction, or the surgical robot will output voice prompts about successful retraction. After that, the medical staff can move the trolley of the surgical robot so that the surgical robot can extend into the surgical robot to perform the steps in S100 above. If the control module of the surgical robot does not receive the trigger command corresponding to the retraction, the surgical robot will also be in the prohibited movement mode.

[0079] The following embodiments of this application will describe how to control the connection between the endoscope arm and the endoscope cannula. In one embodiment, the steps in S100 above may specifically include: obtaining an operation signal based on the identification signal emitted by the surgical robot; after obtaining the operation signal, controlling the connection between the endoscope arm and the endoscope cannula, and adjusting the endoscope to face the lesion area of ​​the target object.

[0080] Specifically, the identification signals emitted by the surgical robot can be visual signals or other forms of signals. Before performing surgical procedures, medical staff need to install a sterile cover on the surgical cart and move it to the ready-to-operate position. It can be understood that the ready-to-operate position refers to the position where the surgical cart will perform the surgical procedure.

[0081] The step of obtaining the operation signal based on the identification signal emitted by the surgical robot may include: if the identification signal emitted by the surgical robot is within a preset range of the lesion area of ​​the target object, then an operation signal is issued.

[0082] In one embodiment of this application, a transmitting module for emitting a marking signal is provided on the suspension mechanism connecting the trolley arm and the robotic arm of the surgical trolley. When the emitted marking signal is within a preset range of the lesion area of ​​the target object, the surgical trolley is considered to have moved to the operation position, and an operation signal is then sent to the user. The marking signal can be a cross laser or other forms of visual signal, or other signals capable of marking.

[0083] In actual operation, medical staff can move the surgical robot's trolley so that the mapping position corresponding to the identification signal emitted by the surgical robot is within a preset distance of the lesion location of the target object. When it is determined that the mapping position corresponding to the identification signal is within a certain preset range around the lesion location, the processing module of the surgical robot can output an operation signal to the interaction module, instructing the medical staff to control the endoscope holding arm to connect with the endoscope cannula, and after connecting the endoscope holding arm with the endoscope cannula, adjust the endoscope to face the lesion area of ​​the target object.

[0084] The following explains how to control the movement of each joint of the control arm from its current joint value to the target joint value via an interactive method.

[0085] In one embodiment, medical staff can also trigger automatic docking of the endoscope arm with the endoscope via an interaction module. The acquisition device can obtain the position and orientation of the endoscope cannula, the processing module plans the path for the endoscope arm to move from its current position to the docking position with the cannula, and the motion control module controls the endoscope arm to move according to the path and dock with the endoscope. In another embodiment, medical staff can also manually drag the endoscope arm to dock it with the endoscope cannula.

[0086] The following explains how to determine that the mapping position corresponding to the identification signal is within a certain preset range around the lesion location.

[0087] In one embodiment, the acquisition device acquires a first image, which includes an image of the lesion area of ​​the target object lying on the operating table and an image of the identification signal emitted by the surgical robot. The acquired first image is then sent to a processing module. The processing module can use a target recognition algorithm to identify the mapping position of the identification signal in the first image sent by the acquisition device and a certain preset range around the lesion position of the target object. Further, based on the identification results of the identification signal and the preset range, it determines whether there is a mapping position of the identification signal within the preset range. If there is, it determines that the mapping position corresponding to the identification signal is within a certain preset range around the lesion position.

[0088] It should be noted that before the acquisition device acquires the first image, the following processing is required: The acquisition device first acquires the second image and sends it to the processing module. The processing module can use a target recognition algorithm to perform target recognition processing on the second image to determine whether there is a lesion area of ​​the target object in the second image. If not, the processing module can send a viewing angle adjustment command to the controller of the acquisition device to instruct the controller of the acquisition device to adjust the acquisition field of view of the acquisition device. Furthermore, the acquisition device determines that the lesion area of ​​the target object is within the acquisition field of view of the acquisition device by repeatedly acquiring the second image and performing the target recognition processing.

[0089] The surgical robot positioning method in this embodiment can obtain operation signals based on the identification signals emitted by the surgical robot, so that medical staff can control the endoscope holding arm to connect with the endoscope cannula according to the received operation signals. This allows for interactive control of the connection between the endoscope holding arm and the endoscope cannula, avoiding multiple connection failures that may occur when the surgical robot directly controls the connection between the endoscope holding arm and the endoscope cannula. This improves the connection efficiency of the endoscope holding arm and the endoscope cannula and shortens the time required for connection.

[0090] The following embodiments of this application will describe how to obtain the target joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm based on the current joint values ​​of each joint of the lens-holding arm and each joint of the trolley arm, respectively. In one embodiment, as follows... Figure 6 As shown, the steps in S200 above can be achieved through the following steps:

[0091] S210. Calculate the position of the fixed point of the endoscope cannula and the direction of the endoscope based on the current joint values ​​of each joint of the endoscope-holding arm using positive kinematics.

[0092] During the positioning of the lens arm, only joints J5-J8 of the lens arm move; the joints of the telecentric mechanism (RCM) of the lens arm do not move. Therefore, the joints of the telecentric mechanism can be considered as a whole. Adjusting joints J5-J8 on the projection plane of the target object degenerates into a planar three-degree-of-freedom lens arm. Figure 7 The diagram shows the adjustment joints of the endoscope arm and their positional relationship on the projection plane of the target object. According to rigid body kinematics, the target joint values ​​of a planar rigid body have only three degrees of freedom (X, Y, and Z axes). Therefore, once the target joint values ​​of the planar rigid body are determined, the joint angles J5~J7 of the three-degree-of-freedom endoscope arm can be uniquely determined. Thus, to determine the target joint values ​​of the endoscope arm, it is necessary to first determine the coordinates of the fixed point of the endoscope cannula and the direction of the endoscope on the projection plane of the target object (rotation around Z), i.e., the endoscope direction.

[0093] The position of the fixed point of the endoscope cannula can be understood as the position of the endoscope cannula on the surface of the target body. In this embodiment, the processing module can use the forward kinematics of the robot's arm to perform calculations based on the current joint values ​​of each joint of the endoscope-holding arm to obtain the position of the fixed point of the endoscope cannula and the endoscope orientation. In this embodiment, the endoscope orientation can be understood as the endoscope's posture, i.e., the endoscope's azimuth angle.

[0094] S220. Based on the position of the fixed point of the endoscope cannula and the direction of the endoscope, calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm.

[0095] Based on the obtained position of the fixed point of the endoscope cannula and the direction of the endoscope, the processing module can perform forward kinematics calculations to obtain the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm.

[0096] In one embodiment of this application, the steps in S220 above may include: using the constraint that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the suspension plate of the surgical robot is aligned with the direction of the endoscope, and using forward kinematics to calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm based on the position of the fixed point of the endoscope cannula and the direction of the endoscope.

[0097] The surgical robot positioning method in this embodiment utilizes forward kinematics to calculate the position of the fixed point of the endoscope cannula and the endoscope orientation based on the current joint values ​​of each joint of the endoscope-holding arm. Then, based on the position of the fixed point of the endoscope cannula and the endoscope orientation, the target joint values ​​of each joint of the endoscope-holding arm and each joint of the trolley arm are calculated. Finally, the positioning of each joint of the endoscope-holding arm and each joint of the trolley arm is achieved based on the target joint values. The optimal configuration of the robotic arm is calculated based on the configuration of each joint of the endoscope-holding arm, ultimately achieving automatic positioning of the robotic arm. This process does not require manual intervention to adjust the position of each robotic arm of the surgical robot, thereby reducing the burden on medical staff, saving labor costs, shortening the time spent positioning each robotic arm of the surgical robot, and improving the accuracy of robotic arm positioning.

[0098] In the actual positioning process, the joints of the surgical robot's trolley arm and the endoscope-holding arm must first be positioned. Based on this, the positioning process of the endoscope-holding arm is further realized. Therefore, the following embodiments of this application will describe how to automatically position the joints of the endoscope-holding arm and the trolley arm. In one embodiment, as... Figure 8 As shown, the steps in S300 above that control each joint of the lens-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value may include:

[0099] S310. Based on the target joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm, plan the motion trajectory of each joint of the mirror-holding arm and each joint of the trolley arm.

[0100] In one embodiment of this application, the surgical robot acquires the joint values ​​of each joint of the endoscope-holding arm and each joint of the trolley arm via a data acquisition module. Further, angle sensors, such as encoders, are installed at each joint of the endoscope-holding arm and each joint of the trolley arm to measure the joint values. The data acquisition module can then aggregate the aforementioned joint value information. In another embodiment of this application, the surgical robot can also acquire information about each joint of the endoscope-holding arm and each joint of the trolley arm via a data acquisition device, which is then used by a processing module to calculate the corresponding current joint values. Based on the acquired current joint values ​​of the endoscope-holding arm and each joint of the trolley arm, the processing module can plan the motion trajectories of each joint of the endoscope-holding arm and each joint of the trolley arm from their current joint values ​​to their target joint values, based on the current joint values ​​and target joint values.

[0101] S320. Based on the planned motion trajectories of each joint of the lens-holding arm and each joint of the trolley arm, control each joint of the lens-holding arm and each joint of the trolley arm to move autonomously from the current joint value to the target joint value.

[0102] In this embodiment, the processing module can generate motion trajectory control instructions for each joint of the lens-holding arm based on the motion trajectory of each joint. Then, the processing module sends the motion trajectory control instructions for each joint of the lens-holding arm to the motion control module. It should be noted that the motion control module receives and responds to the motion trajectory control instructions for each joint of the lens-holding arm to control each joint of the lens-holding arm to move from its current joint value to its target joint value according to the corresponding motion trajectory.

[0103] Accordingly, the processing module can also generate trolley joint motion trajectory control commands based on the motion trajectories of each joint of the trolley arm, and then send the corresponding trolley joint motion trajectory control commands to the motion control module. It should be noted that the motion control module receives and responds to the corresponding trolley joint motion trajectory control commands to control each joint of the trolley arm to move from its current joint value to its target joint value according to the corresponding motion trajectory. It should also be noted that the trolley joint motion trajectory control commands can carry the motion trajectory of the corresponding joint, i.e., the direction and displacement of the corresponding joint.

[0104] In one embodiment of this application, after the step of planning the motion trajectory of each joint of the endoscope arm and each joint of the trolley arm according to the target joint values ​​in S310 above, the positioning method of the surgical robot may further include: if the motion trajectory planning of each joint of the endoscope arm and each joint of the trolley arm fails, manually controlling each joint of the endoscope arm and each joint of the trolley arm to move from the current joint value to the target joint value.

[0105] Specifically, if the motion trajectory of each joint of the endoscope arm and the motion trajectory of each joint of the trolley arm both fail to be planned, the processing module can output a motion trajectory planning failure message to remind medical staff that the motion trajectory of each joint of the endoscope arm and the motion trajectory of each joint of the trolley arm both failed to be planned, and medical staff need to control each joint of the endoscope arm and the trolley arm to move from the current joint value to the target joint value through interactive means.

[0106] The following explains how to control the movement of each joint of the mirror-holding arm from its current joint value to the target joint value through interactive means.

[0107] In one embodiment, medical staff can automatically control the movement of each joint of the endoscope arm from its current joint value to a target joint value via triggering. Specifically, the processing module plans a motion trajectory based on the current and target joint values ​​of each joint of the endoscope arm, and the motion control module automatically controls the movement of each joint of the endoscope arm from its current joint value to the corresponding target joint value based on the received motion trajectory. In another embodiment, medical staff can also manually operate the endoscope arm to move from its current joint value to the corresponding target joint value based on the current and target joint values ​​of each joint. The corresponding trolley arm can also be implemented using the same control method as the endoscope arm joints.

[0108] In one embodiment of this application, controlling each joint of the endoscope arm and the trolley joint to autonomously move to the target joint value according to the corresponding motion trajectory includes: if the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the trolley suspension plate is aligned with the endoscope direction, then it is determined that each joint of the endoscope arm and the trolley joint have moved to the target joint value according to the corresponding motion trajectory.

[0109] The acquisition device can acquire a third image, which includes the identification signal emitted by the surgical robot and the fixed point of the endoscope cannula, and send the third image to the processing module. Further, the processing module can use a target recognition algorithm to perform target recognition processing on the third image, obtaining the mapping position of the identification signal and the position of the fixed point of the endoscope cannula in the third image, and determining whether the mapping position of the identification signal and the position of the fixed point of the endoscope cannula are the same. If they are the same, the processing module can determine that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula.

[0110] Simultaneously, the acquisition device can also acquire a fourth image, which includes the surgical robot's suspension plate and endoscope, and send the fourth image to the processing module. Further, the processing module can use a target recognition algorithm to perform target recognition processing on the fourth image, obtaining the direction of the suspension plate and the direction of the endoscope in the fourth image, and determining whether the directions of the suspension plate and the endoscope are the same. If they are the same, the processor can determine the direction in which the surgical robot's suspension plate is aligned with the endoscope.

[0111] In actual processing, after the processing module determines that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and that the trolley suspension plate is aligned with the endoscope direction, it can determine that each joint of the endoscope arm and the trolley joint have autonomously moved to the target joint value according to the corresponding motion trajectory.

[0112] The surgical robot positioning method in this embodiment can plan the motion trajectory of each joint of the endoscope arm and each joint of the trolley arm, and then control each joint of the endoscope arm and each joint of the trolley arm to move autonomously from the current joint value to the target joint value according to the corresponding trajectory. This process can avoid human intervention in the positioning process of each joint of the endoscope arm and each joint of the trolley arm, shorten the time spent on positioning each joint of the endoscope arm and each joint of the trolley arm, improve the positioning efficiency of each joint of the endoscope arm and each joint of the trolley arm, and improve the accuracy of the positioning result by avoiding human intervention in the positioning process.

[0113] In actual operation, the surgical robot controls the robotic arm to achieve automatic positioning. This requires first determining the optimal configuration of each joint of the robotic arm, and then controlling each joint to move from its current joint value to the optimal configuration. The following embodiments of this application will describe how to determine the optimal configuration of the robotic arm based on the target joint values ​​of each joint and the current joint values ​​of the robotic arm. In one embodiment, the step in S400 above, which determines the optimal configuration of the robotic arm based on the target joint values ​​of each joint and the current joint values ​​of the robotic arm, may include: using the configuration corresponding to the target joint values ​​of each joint of the robotic arm as a reference, calculating the optimal configuration of the robotic arm using a positioning configuration optimization method based on kinematics and collision detection.

[0114] In this embodiment, the optimal configuration acquisition module uses the configuration corresponding to the target joint values ​​of each joint of the endoscope arm as a benchmark, uses a kinematic and collision detection-based positioning configuration optimization method, employs hierarchical bounding boxes to achieve collision detection between robotic arms, and calculates the optimal configuration of the surgical robot's endoscope arms with the goal of maximizing the range of motion between the three endoscope arms without causing mutual collisions.

[0115] The surgical robot positioning method in the embodiments of this application can use the target joint value of the endoscope arm as a reference, and use a positioning configuration optimization method based on kinematics and collision detection to calculate the optimal configuration of the endoscope arm. It can further control the movement of each joint of the endoscope arm from the current joint value to the optimal configuration, so that the surgical robot can avoid collisions between the endoscope arm and the endoscope arm, as well as between two adjacent endoscope arms, during the surgical operation, thereby improving the accuracy and effect of the surgery.

[0116] In one embodiment of this application, to facilitate understanding by those skilled in the art, the positioning method of the surgical robot provided in this application is described using a surgical robot as the execution subject as an example. Specifically, the surgical robot includes a surgical cart, a scope-holding arm, and a surgical arm, and the surgical cart includes a cart arm. The positioning method of the surgical robot includes the following process:

[0117] (1) Obtain the operation signal according to the identification signal emitted by the surgical robot; the operation signal is used to instruct the user to control the endoscope holding arm to connect with the endoscope cannula and adjust the endoscope to face the lesion area of ​​the target object, and the endoscope cannula is set on the body surface of the target object.

[0118] (2) Calculate the position of the fixed point of the endoscope cannula and the direction of the endoscope based on the current joint values ​​of each joint of the endoscope arm using positive kinematics.

[0119] (3) With the marking signal emitted by the surgical robot coinciding with the fixed point of the endoscope cannula and the suspension plate of the surgical robot aligned with the direction of the endoscope as constraints, the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm are calculated using forward kinematics based on the position of the fixed point of the endoscope cannula and the direction of the endoscope.

[0120] (4) Based on the target joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm, plan the motion trajectory of each joint of the mirror-holding arm and each joint of the trolley arm.

[0121] (5) If the motion trajectory planning of each joint of the mirror holding arm and each joint of the trolley arm is successful, then according to the motion trajectory of each joint of the mirror holding arm and each joint of the trolley arm, control each joint of the mirror holding arm and each joint of the trolley arm to move autonomously from the current joint value to the target joint value.

[0122] (6) If the motion trajectory planning of each joint of the mirror holding arm and each joint of the trolley arm fails, control the joints of the mirror holding arm and the trolley to move to the target joint value.

[0123] (7) Based on the configuration corresponding to the target joint values ​​of each joint of the lens-holding arm, the optimal configuration of the lens-holding arm is calculated using the kinematic and collision detection-based positioning configuration optimization method, and each joint of the lens-holding arm is controlled to move from the current joint value to the optimal configuration.

[0124] The specific execution process of (1) to (7) above can be found in the description of the above embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0125] It should be understood that, although Figure 2 , 6 The steps in flowchart 8 are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order in which these steps are performed; they can be executed in other orders. Furthermore, Figure 2 , 6 At least some of the steps in 8 may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0126] In one embodiment, such as Figure 9 As shown, a positioning device for a surgical robot is provided. The surgical robot includes a trolley, a scope-holding arm, and a surgical arm. The surgical trolley includes a trolley arm and comprises: an interaction module 11, a processing module 12, a motion control module 13, and an optimal configuration acquisition module 14, wherein:

[0127] Interaction module 11 is used to connect the endoscope arm and the endoscope cannula, with the endoscope cannula set on the surface of the target object;

[0128] Processing module 12 is used to obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm.

[0129] The motion control module 13 is used to control the movement of each joint of the lens-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0130] The optimal configuration acquisition module 14 is used to determine the optimal configuration of the mechanical arm based on the target joint values ​​of each joint of the mirror arm and the current joint values ​​of each joint of the mechanical arm, and to control each joint of the mechanical arm to move from the current joint value to the optimal configuration.

[0131] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0132] In one embodiment, the interaction module 11 includes: an operation signal acquisition unit, wherein:

[0133] The operation signal acquisition unit is used to acquire operation signals based on the identification signals emitted by the surgical robot. The operation signals are used to instruct the user to control the endoscope holding arm to connect with the endoscope cannula and adjust the endoscope to face the lesion area of ​​the target object.

[0134] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0135] In one embodiment, the processing module 12 includes: a position and orientation calculation unit and a target joint value calculation unit, wherein:

[0136] The position and orientation calculation unit is used to calculate the position of the fixed point of the endoscope cannula and the orientation of the endoscope based on the current joint values ​​of each joint of the endoscope arm using positive kinematics.

[0137] The target joint value calculation unit is used to calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm based on the position of the fixed point of the endoscope cannula and the direction of the endoscope.

[0138] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0139] In one embodiment, the target joint value calculation unit is specifically used to calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm based on the position of the endoscope cannula fixed point and the direction of the endoscope using positive kinematics, with the constraint that the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the direction of the endoscope.

[0140] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0141] In one embodiment, the motion control module 13 includes: a motion trajectory planning unit and a first motion control unit, wherein:

[0142] The motion trajectory planning unit is used to plan the motion trajectory of each joint of the mirror-holding arm and each joint of the trolley arm based on the target joint values ​​of each joint of the mirror-holding arm and each joint of the trolley arm.

[0143] The first motion control unit is used to control each joint of the lens-holding arm and each joint of the trolley arm to move autonomously from the current joint value to the target joint value according to the motion trajectory of each joint of the lens-holding arm and each joint of the trolley arm.

[0144] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0145] In one embodiment, the motion control module 13 further includes: a second motion control unit, wherein:

[0146] The second motion control unit is used to control the joints of the lens-holding arm and the trolley arm to move to the target joint value when it is determined that the motion trajectory planning of each joint of the lens-holding arm and the trolley arm has failed.

[0147] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0148] In one embodiment, the first motion control unit is specifically used to determine that each joint of the endoscope arm and the trolley joint have autonomously moved from the current joint value to the target joint value when the identification signal emitted by the surgical robot coincides with the fixed point of the endoscope cannula and the trolley suspension plate is aligned with the endoscope direction.

[0149] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0150] In one embodiment, the optimal configuration acquisition module 14 includes: an optimal configuration acquisition unit, wherein:

[0151] The optimal configuration acquisition unit is used to calculate the optimal configuration of the arm based on the configuration corresponding to the target joint values ​​of each joint of the arm, using a kinematic and collision detection-based positioning configuration optimization method.

[0152] The implementation principle and technical effect of the surgical robot positioning device provided in this embodiment are similar to the above-described surgical robot positioning method, and will not be repeated here.

[0153] Specific limitations regarding the positioning device of the surgical robot can be found in the limitations on the positioning method of the surgical robot mentioned above, and will not be repeated here. Each module in the aforementioned positioning device of the surgical robot can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the surgical robot in hardware form or independent of it, or stored in the memory of the surgical robot in software form, so that the processor can call and execute the operations corresponding to each module.

[0154] In one embodiment, a computer device is provided, the internal structure of which can be shown in the following diagram. Figure 10As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external endpoints via a network connection. When the computer program is executed by the processor, it implements a positioning method for a surgical robot.

[0155] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0156] In one embodiment, a surgical robot is provided, including a surgical cart, a scope arm, a robotic arm, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0157] Control the connection between the endoscope arm and the endoscope cannula, with the endoscope cannula positioned on the surface of the target body;

[0158] Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley.

[0159] Control the movement of each joint of the mirror-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0160] Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, the optimal configuration of the robotic arm is determined, and each joint of the robotic arm is controlled to move from the current joint value to the optimal configuration.

[0161] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0162] Control the connection between the endoscope arm and the endoscope cannula, with the endoscope cannula positioned on the surface of the target body;

[0163] Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley.

[0164] Control the movement of each joint of the mirror-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0165] Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, the optimal configuration of the robotic arm is determined, and each joint of the robotic arm is controlled to move from the current joint value to the optimal configuration.

[0166] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0167] Control the connection between the endoscope arm and the endoscope cannula, with the endoscope cannula positioned on the surface of the target body;

[0168] Based on the current joint values ​​of each joint of the endoscope arm and each joint of the trolley arm, obtain the target joint values ​​of each joint of the endoscope arm and each joint of the trolley arm of the surgical trolley.

[0169] Control the movement of each joint of the mirror-holding arm and each joint of the trolley arm from the current joint value to the target joint value;

[0170] Based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the robotic arm, the optimal configuration of the robotic arm is determined, and each joint of the robotic arm is controlled to move from the current joint value to the optimal configuration.

[0171] 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. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0172] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An interactive preoperative positioning system for surgical robots, characterized in that, The interactive preoperative positioning system for the surgical robot is used for positioning the surgical robot. The interactive preoperative positioning system for the surgical robot includes a data acquisition device, a processing module, a motion control module, and an optimal configuration acquisition module. The surgical robot includes a surgical cart, a scope-holding arm, and a surgical arm. The surgical cart includes a cart arm. The acquisition device is used to acquire the position and orientation of the endoscope cannula, which is placed on the surface of the target object. The processing module is used to plan the path for the endoscope arm to move from its current position to the docking position with the endoscope cannula; The motion control module is used to control the scope arm to move according to the path so as to dock with the endoscope cannula; The processing module is also used to calculate the position of the fixed point of the endoscope cannula and the direction of the endoscope based on the current joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm using positive kinematics, and to calculate the target joint values ​​of each joint of the endoscope holding arm and each joint of the trolley arm based on the position of the fixed point of the endoscope cannula and the direction of the endoscope. The motion control module is used to control each joint of the lens-holding arm and each joint of the trolley arm to move from the current joint value to the target joint value; The optimal configuration acquisition module is used to determine the optimal configuration of the mechanical arm based on the target joint values ​​of each joint of the lens-holding arm and the current joint values ​​of each joint of the mechanical arm, and to control each joint of the mechanical arm to move from the current joint value to the optimal configuration.

2. The interactive preoperative positioning system for surgical robots according to claim 1, characterized in that, The system also includes: The acquisition device is used to acquire a second image and send the second image to the processing module; The processing module is used to detect whether there is a lesion area of ​​the target object in the second image. If the lesion area is not detected in the second image, a viewing angle adjustment command is sent to the controller of the acquisition device. The viewing angle adjustment command is used to adjust the acquisition field of view of the acquisition device.

3. The interactive preoperative positioning system for surgical robots according to claim 2, characterized in that, The system also includes a suspension mechanism, which is equipped with a transmitting module. The transmitting module is used to transmit an identification signal and obtain an operation signal based on the identification signal. The operation signal is used to indicate and control the connection between the endoscope arm and the endoscope cannula. The acquisition device is used to acquire a first image and send the first image to the processing module. The first image includes the lesion area of ​​the target object on the operating table and the image of the identification signal emitted by the surgical robot. The processing module is used to identify the mapping position of the identification signal in the first image and the preset range around the lesion position of the target object based on the target recognition algorithm, and to determine whether there is a mapping position of the identification signal within the preset range based on the identification result of the identification signal and the preset range. If there is, it is determined that the mapping position corresponding to the identification signal is within the preset range around the lesion area.

4. The interactive preoperative positioning system for surgical robots according to any one of claims 1 to 3, characterized in that, The system also includes: The acquisition device is used to acquire information about each joint of the mirror-holding arm and each joint of the trolley arm; The processing module is used to calculate the current joint values ​​of the lens-holding arm and the trolley arm, and based on the current joint values ​​and target joint values ​​of each joint of the lens-holding arm and the trolley arm, to plan the motion trajectory of each joint of the lens-holding arm from the current joint value to the target joint value, and the motion trajectory of each joint of the trolley arm from the current joint value to the target joint value.

5. The interactive preoperative positioning system for surgical robots according to claim 4, characterized in that, The system also includes: The acquisition device is used to acquire a third image and send the third image to the processing module; the third image includes the fixed point of the endoscope cannula and the identification signal; The processing module is used to identify the mapping position of the identification signal and the position of the fixed point of the endoscope cannula in the third image, and if the mapping position of the identification signal and the position of the fixed point of the endoscope cannula are the same, it determines that the mapping position of the identification signal and the position of the fixed point of the endoscope cannula coincide.

6. The interactive preoperative positioning system for surgical robots according to claim 4, characterized in that, The system also includes: The acquisition device is used to acquire a fourth image and send the fourth image to the processing module; the fourth image includes the suspension plate of the surgical robot and the endoscope on the endoscope-holding arm; The processing module is used to identify the direction of the suspension plate and the direction of the endoscope in the fourth image, and when the direction of the suspension plate and the direction of the endoscope are detected to be the same, it determines the direction in which the suspension plate is aligned with the endoscope.

7. The interactive preoperative positioning system for surgical robots according to any one of claims 1 to 3, characterized in that, The acquisition device is used to acquire three-dimensional data of the environment. The installation positions of the acquisition device include: operating table, operating light, visual table, and any position aligned with the cannula. The acquisition device is installed using a gimbal with degrees of freedom.

8. The interactive preoperative positioning system for surgical robots according to any one of claims 1 to 3, characterized in that, The system also includes a sterile cover, which is installed when the surgical robot is in the deployed state. When the sterile cover is detected to be installed, the controller of the surgical robot receives and responds to the triggered retraction button or retraction control on the surgical robot to control the surgical robot to retract.

9. The interactive preoperative positioning system for surgical robots according to claim 8, characterized in that, If the controller of the surgical robot does not receive a trigger command corresponding to the deployment state, the surgical robot is in a prohibited movement mode; If the controller of the surgical robot does not receive a trigger command corresponding to the contraction state, the surgical robot is in a prohibited movement mode.

10. The interactive preoperative positioning system for surgical robots according to any one of claims 1 to 3, characterized in that, The motion control module includes at least one controller. When the motion control module includes one controller, the controller is used to control the movement of each robotic arm and trolley arm of the surgical robot. When the motion control module includes two controllers, one controller is used to control the movement of each robotic arm of the surgical robot, and the other controller is used to control the movement of the trolley arm of the surgical trolley. When the motion control module includes multiple controllers, one controller is used to control the movement of the surgical trolley of the surgical robot, and another controller is used to control the movement of the endoscope-holding arm; other controllers are used to control the movement of each endoscope-holding arm of the surgical trolley.

Images