Smooth control method and device for surgical robot, medium and product

Abstract

The invention discloses a smooth control method and device for a surgical robot, a medium and a product, and belongs to the field of medical instruments. According to the smooth control method of the surgical robot, the gravity compensation force and the impedance force are dynamically fused through the transition function when the main hand end crosses the working boundary of the instrument. Therefore, feedback force felt by an operator is smoothly and progressively changed in a boundary area, obvious shaking and jerking caused by sudden change of force are thoroughly eliminated, control of a main hand becomes smooth and stable, controllability and intuition of fine surgical operation near a limit position are remarkably improved, and the operation efficiency is improved. And smoother and more reliable man-machine interaction experience is provided for doctors.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to smooth control methods, devices, media, and products for surgical robots. Background Technology

[0002] Minimally invasive surgical robots enter the human body through a single trocar port on the operating end. This single-port design, unlike the multi-port layout of a four-arm robot, dictates that its instruments must operate within a confined space. Under these conditions, the master hand can more easily move to the instrument's positional limits. On the inner and outer sides of these positional limits, the master hand applies forces for gravitational balance and resistance, respectively. The direct switching between these two forces at the boundary causes the master hand to vibrate at the boundary, and the abrupt force affects the smoothness of movement. Summary of the Invention

[0003] To address the problem of hand tremors and unsmooth movement caused by the direct switching between gravitational balance force and impedance force at the instrument position limits in existing surgical robots, a smooth control method, device, medium, and product for surgical robots that aims to achieve a smooth transition between gravitational balance force and impedance force at the position limit boundary is provided.

[0004] This application provides a method for smooth control of a surgical robot, including:

[0005] Obtain the current location data from the device;

[0006] When the current position data meets the transition conditions, the current transition stage of the master terminal is determined; wherein, the transition stage includes: a transition stage from inside the boundary to the impedance region and a transition stage from the impedance region to inside the boundary;

[0007] The impedance data and gravity compensation data of the current master terminal are obtained, and the feedback data of the master terminal is calculated through the transition function according to the conversion stage to achieve smooth control.

[0008] The smooth control method of the surgical robot in this application dynamically integrates gravity compensation force and impedance force when the master hand crosses the working boundary of the instrument through a transition function. This allows the feedback force felt by the operator to undergo a smooth and gradual change in the boundary region, completely eliminating the obvious shaking and jerking caused by sudden force changes. This makes the operation of the master hand smooth and stable, significantly improving the controllability and intuition of performing delicate surgical operations near extreme positions, and providing doctors with a smoother and more reliable human-computer interaction experience.

[0009] Optionally, determining the current transition stage of the main device when the current location data meets the transition conditions includes:

[0010] Obtain the historical location data from the hand device;

[0011] Based on the current location data and the historical location data, the movement trajectory of the slave device is identified, and the current transition stage of the master device is determined based on the movement trajectory.

[0012] By analyzing the movement trajectory of the instrument to determine the force feedback switching intention, misjudgment caused by slight vibrations near the boundary is avoided, ensuring the accuracy and rationality of the force feedback mode switching, and making the force change felt by the operator always synchronized with the control intention.

[0013] Optionally, the step of acquiring the current impedance data and gravity compensation data of the master terminal, and calculating the feedback data of the master terminal through a transition function based on the conversion stage to achieve smooth control includes:

[0014] Obtain the impedance data and gravity compensation data of the current master hand device;

[0015] The time-varying coefficients of the master terminal are determined based on the conversion stage;

[0016] The feedback data of the master terminal is calculated using a transition function based on the impedance data, the gravity compensation data, and the time-varying coefficient.

[0017] Optionally, determining the time-varying coefficients of the master terminal based on the conversion stage includes:

[0018] When the transition stage is from the boundary to the impedance region, the time-varying coefficient smoothly decreases from 1 to 0.

[0019] When the transition stage is a transition from the impedance region to the boundary region, the time-varying coefficient smoothly increases from 0 to 1.

[0020] By setting differentiated smooth change paths for time-varying coefficients based on the direction of motion, it is ensured that the force feedback conversion is intuitive and natural when the instrument approaches and leaves the working boundary, thereby completely eliminating the lag or jitter that may occur at the boundary during bidirectional operation.

[0021] Optionally, the transition function is: time-varying coefficient × force difference + foundation force = feedback data;

[0022] Specifically, when the conversion stage is the conversion stage from the boundary to the impedance zone, the force difference = impedance data - gravity compensation data; the gravity compensation data is the basic force.

[0023] By using the pass function, the force feedback curve is ensured to precisely match and continuously change on both sides of the boundary, thereby eliminating the lag and difference in feel during bidirectional operation, so that the instrument can provide a consistent and smooth force experience when approaching and withdrawing.

[0024] Optionally, before determining the current transition stage of the master device when the current location data meets the transition conditions, the method further includes:

[0025] Generate a boundary vector in Cartesian space based on the current location data;

[0026] The pointing boundary vector is converted into an incremental target angle in joint space;

[0027] Identify whether the incremental target angle meets the transition condition;

[0028] The transition condition is that the incremental target angle is greater than 0 degrees and less than or equal to the target angle.

[0029] By converting spatial vectors into joint angle increments and comparing them with target angles, the force transition is closely synchronized with the mechanical structure's motion state. This allows the operator to perceive smooth guiding force feedback before the robotic arm reaches its physical limits, effectively avoiding accidental interference and operational tension.

[0030] Optional, also includes:

[0031] When the incremental target angle is equal to 0 degrees, the gravity compensation data of the current main hand terminal is obtained, and the gravity compensation data is used as the feedback data of the main hand terminal.

[0032] When the incremental target angle is less than the target angle, the impedance data of the current master terminal is obtained, and the impedance data is used as the feedback data of the master terminal.

[0033] Intelligent switching and hierarchical management of working modes are achieved through precise judgment of joint motion state. Direct and efficient force feedback is provided in clearly defined inner and outer areas to ensure operational clarity and system consistency, while a smooth fusion algorithm is enabled in narrow boundary areas.

[0034] This application also provides an electronic device comprising: one or more processors; and a memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method described above.

[0035] This application also provides a computer-readable medium having computer program instructions stored thereon, which can be executed by a processor to implement the method described above.

[0036] This application also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the method described above. Attached Figure Description

[0037] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0038] Figure 1 This is a flowchart illustrating one embodiment of the smooth control method for the surgical robot described in this application.

[0039] Figure 2 A flowchart illustrating an embodiment of the method for determining the current transition stage of the master terminal as described in this application;

[0040] Figure 3 This is a flowchart illustrating an embodiment of a method for calculating feedback data from the master terminal using a transition function based on the conversion stage, as described in this application.

[0041] Figure 4 This is a flowchart illustrating another embodiment of the smooth control method for the surgical robot described in this application.

[0042] Figure 5 This is an exemplary structural diagram of an electronic device according to this application. Detailed Implementation

[0043] The advantages of this application are further illustrated below with reference to the accompanying drawings and specific embodiments.

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0045] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0047] In the description of this application, it should be understood that the numerical labels before the steps do not indicate the order of the steps, but are only used to facilitate the description of this application and to distinguish each step, and therefore should not be construed as a limitation of this application.

[0048] See Figure 1 As shown, this application provides a smooth control method for a surgical robot, including the following steps:

[0049] S1. Obtain the current location data from the device;

[0050] S2. When the current position data meets the transition conditions, determine the current transition stage of the master terminal; wherein, the transition stage includes: a transition stage from inside the boundary to the impedance region and a transition stage from the impedance region to inside the boundary;

[0051] S3. Obtain the current impedance data and gravity compensation data of the master terminal, and calculate the feedback data of the master terminal through the transition function according to the conversion stage to achieve smooth control.

[0052] Impedance data is derived from preset virtual environment model parameters (mainly stiffness and damping), and the corresponding target values ​​can be directly retrieved when entering the conversion stage. Gravity compensation data is based on a precise dynamic model of the master arm, and the feedforward torque used to counteract the arm's own gravity is dynamically calculated based on real-time collected joint position information. In this embodiment, both the impedance data and gravity compensation data at the current master end are provided by the surgical robot.

[0053] In this embodiment, the smooth control method for the surgical robot can be applied to both single-port and multi-port surgical robots. When the end effector of the robotic arm approaches its position limit from within the working area under the operator's control, the system first acquires real-time pose data of the end effector. Once this data reaches a preset transition interval threshold, the system determines that it has entered the "transition from the boundary to the impedance zone stage" and simultaneously acquires the impedance parameters (such as stiffness and damping based on a virtual model) of the current master hand lever and preset gravity compensation data. The system then calls a smooth transition function defined within this transition interval. This function does not simply switch between the two forces, but dynamically and continuously adjusts the mixing ratio of gravity compensation force and impedance force in the final feedback force based on the distance between the current position of the master hand and the boundary. As the master hand gets closer to the limit boundary, the gravity compensation component gradually weakens from dominant to zero, while the impedance component smoothly increases from zero to the set value. This process is continuously differentiable, and the feedback force ultimately transmitted to the operator is a gently changing curve as it crosses the entire boundary region. Therefore, when the operator moves their main hand across this boundary area, the change in force feedback is gradual and continuous, effectively avoiding the shaking and jerking caused by sudden changes in force, making delicate surgical operations smoother and more intuitive.

[0054] In this embodiment, the smooth control method of the surgical robot dynamically integrates gravity compensation force and impedance force when the master hand crosses the instrument working boundary through a transition function. This allows the feedback force felt by the operator to undergo a smooth and gradual change in the boundary area, completely eliminating the obvious shaking and jerking caused by sudden force changes. This makes the operation of the master hand smooth and stable, significantly improving the controllability and intuition of performing delicate surgical operations near extreme positions, and providing doctors with a smoother and more reliable human-computer interaction experience.

[0055] In a preferred embodiment, see Figure 2 As shown, step S2 may include the following steps:

[0056] S21. Obtain the historical location data from the hand device;

[0057] S22. Based on the current location data and the historical location data, identify the movement trajectory of the slave device, and determine the current transition stage of the master device based on the movement trajectory.

[0058] In this embodiment, the transition stage of the operator is determined by analyzing the movement trajectory formed by the current position and historical position of the handheld device in real time. For example, when the device moves continuously from inside the working area towards the boundary, the system identifies this "outward" trajectory, thus accurately determining the transition stage as "transition from inside the boundary to the impedance zone"; conversely, if the device moves continuously from outside the boundary towards the inside, it corresponds to the "transition from the impedance zone to the boundary" stage. This trajectory-intention-based determination method effectively avoids misjudgments that may occur when relying solely on transient positions (such as slight jitter near the boundary), ensuring the accuracy and timing of force feedback mode switching. The force changes felt by the operator are always synchronized with their control intention, resulting in a natural and definite transition process, further enhancing the predictability of machine boundary behavior and overall control confidence in complex and delicate operations.

[0059] In a preferred embodiment, see Figure 3 As shown, step S3 may include the following steps:

[0060] S31. Obtain the impedance data and gravity compensation data of the current master terminal;

[0061] S32. Determine the time-varying coefficients of the master terminal based on the conversion stage;

[0062] Further, step S32 may include:

[0063] When the transition stage is from the boundary to the impedance region, the time-varying coefficient smoothly decreases from 1 to 0.

[0064] When the transition stage is a transition from the impedance region to the boundary region, the time-varying coefficient smoothly increases from 0 to 1.

[0065] S33. The feedback data of the master end is calculated using a transition function based on the impedance data, the gravity compensation data, and the time-varying coefficient.

[0066] In this embodiment, the time-varying coefficient α is assigned different smooth change paths based on the identified direction of motion. When the main hand moves the instrument from the inside of the working area toward the position boundary (i.e., "transitioning from inside the boundary to the impedance zone"), the coefficient α starts from 1 and continuously and smoothly decreases to 0 as the position approaches the boundary. During this process, the feedback force gradually changes from being dominated by a completely gravity-compensated force to a completely virtual impedance force, and the force felt by the operator is as if it is "gently guided" to the boundary. Conversely, when the instrument returns from outside the boundary to the working area, the coefficient α smoothly increases from 0 to 1, and the feedback force seamlessly transitions from impedance force back to gravity-compensated force, making the instrument seem as if it is "gently released" into the free working space. This coefficient change, which is adjusted according to the intention of the movement, ensures that the force feedback transition is natural and intuitive, whether approaching or leaving the boundary, completely avoiding any lag or bidirectional jitter that may occur at the boundary during bidirectional movement, so that the reciprocating operation of the main hand remains highly smooth and stable.

[0067] Furthermore, the transition function is: time-varying coefficient × force difference + foundation force = feedback data;

[0068] Specifically, when the conversion stage is the conversion stage from the boundary to the impedance zone, the force difference = impedance data - gravity compensation data; the gravity compensation data is the basic force.

[0069] The transition function in this embodiment can be a power function or an activation function, etc.

[0070] In this embodiment, when the instrument moves from the working area towards the boundary, the system uses gravity compensation data as the starting point (base force) and calculates the difference between impedance data and gravity compensation data as the "force difference" to be fused. As the time-varying coefficient smoothly decreases from 1 to 0, the contribution of this difference to the final feedback force gradually becomes zero, so that the force felt by the operator starts from pure, stable gravity compensation and continuously and without abrupt changes increases to the target impedance force. The whole process is like gently pushing the instrument into a gradually emerging, compliant cushion. Conversely, when the instrument returns from outside the boundary, the system uses impedance data as the base starting point and calculates the difference between gravity compensation data and impedance data, with its time-varying coefficient increasing from 0 to 1. This allows the feedback force to smoothly "dissolve" back to a fully gravity-compensated state, starting from a precise impedance force, making the instrument's return operation feel light and certain. This structure, based on the intelligent allocation of fundamental force and difference in direction, mathematically guarantees that the endpoint values ​​of the force curve on both sides of the boundary perfectly match the desired single force pattern. At the same time, it maintains high-order continuity in the transition zone, thereby physically eliminating the slight lag or asymmetrical feel that may be caused by formula asymmetry or ambiguous definition in bidirectional operation. This ensures that the operator can obtain a consistent, stable and absolutely smooth force feel experience whether making an approximation or withdrawal action.

[0071] In a preferred embodiment, see Figure 4 As shown, the procedure before performing step S2 also includes:

[0072] A1. Generate a boundary vector in Cartesian space based on the current position data;

[0073] A2. Convert the pointing boundary vector into an incremental target angle in joint space;

[0074] A3. Identify whether the incremental target angle meets the transition condition. If it meets the transition condition, proceed to step S2.

[0075] The transition condition is that the incremental target angle is greater than 0 degrees and less than or equal to the target angle.

[0076] In this embodiment, after obtaining the real-time position of the end effector, a vector pointing from the current position to the preset working boundary is calculated in three-dimensional (Cartesian) space. This spatial vector is accurately mapped and solved into the required rotational angle increments for each corresponding joint. The system does not directly rely on spatial distance, but determines whether to activate the transition process by judging whether the "incremental target angle" of these joints is greater than 0 degrees and does not exceed a certain safety threshold (i.e., the "target angle"). For example, when the doctor manipulates the instrument to gradually approach the anatomical boundary inside the body, even if there is still a margin in the absolute spatial distance, as long as the rotation angle of a key joint enters this preset small range, the system will activate the smooth transition mechanism in advance and gently. This forward-looking judgment based on joint spatial kinematics directly matches the physical motion limits of the robot body, making the force transition intervention closely synchronized with the actual motion state of the mechanical structure. As a result, the operator can sense the guided compliant force feedback from the control system before the robotic arm actually touches any hard limit. This allows the operator to obtain an earlier and more natural perception and buffer of the internal motion state of the equipment while accurately completing the surgical action, avoiding any unexpected interference or operational tension caused by the sudden triggering of physical limits.

[0077] In a preferred embodiment, the smooth control method for the surgical robot may further include:

[0078] When the incremental target angle is equal to 0 degrees, the gravity compensation data of the current main hand terminal is obtained, and the gravity compensation data is used as the feedback data of the main hand terminal.

[0079] When the incremental target angle is less than the target angle, the impedance data of the current master terminal is obtained, and the impedance data is used as the feedback data of the master terminal.

[0080] In this embodiment, seamless intelligent switching of working modes is achieved through precise judgment of the incremental target angle in joint space. When the doctor manipulates the instrument to move freely within the safe working area at the main hand, the system detects an incremental target angle of 0 degrees. At this time, the force fed back to the operator is pure gravity compensation data, making the instrument very light and flexible to operate with almost no resistance. Once the movement of the instrument requires the joint to turn to the boundary, and the rotation amplitude is significant (the incremental angle is less than the set target angle threshold), it means that the instrument has clearly entered the virtual impedance zone outside the boundary. The system then switches to providing complete impedance data as feedback force, forming a stable and clear sense of resistance at the main hand, clearly indicating the limit of the working range. This direct judgment and switching based on kinematic state makes the system feedback both direct and efficient when operating in most clearly defined inner and outer areas, ensuring the clarity of operation and the consistency of system response. When the instrument is in the narrow transition zone between these two, the aforementioned smoothing algorithm intervenes to perform fine force fusion. The entire system thus creates a layered force feedback experience: the central area is light and free, the outer area has clear resistance, and the transition in the key boundary areas is smooth and natural. This allows doctors to obtain a reliable, intuitive and consistent control feel while focusing on the operation, without having to be distracted by judging the system's feedback status.

[0081] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0082] Furthermore, some embodiments of this application also provide an electronic device. The electronic device can be various forms of digital computer, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, etc. The electronic device can also be various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices.

[0083] The electronic device includes: one or more processors; and a memory storing computer program instructions that, when executed, cause the processor to perform the steps of the methods provided in any one or more of the above embodiments. Figure 5 An exemplary structural diagram of the electronic device is disclosed. For example... Figure 5As shown, the electronic device includes one or more processors 1101, a memory 1102, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0084] The electronic device may further include an input device 1103 and an output device 1104. The processor 1101, memory 1102, input device 1103, and output device 1104 may be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0085] Input device 1103 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the electronic device, such as a touch screen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 1104 may include a display device, auxiliary lighting device (e.g., LED), and haptic feedback device (e.g., vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0086] To provide interaction with the user, the electronic device can be a computer. The computer has: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0087] In this embodiment, a computer-readable medium stores a computer program / instructions that, when executed by a processor, implement the steps of the methods provided in any one or more of the above embodiments. This computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into that device. The aforementioned computer-readable medium carries one or more computer-readable instructions.

[0088] The memory 1102 can serve as a non-transitory computer-readable storage medium, used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 1102, thereby implementing the program instructions / modules corresponding to the methods provided in any one or more of the embodiments described above in this application.

[0089] The memory 1102 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 1102 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1102 may optionally include memory remotely located relative to the processor 1101, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0090] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] Computer-readable media include permanent and non-permanent, removable and non-removable media, which can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, read-only optical disc (CD-ROM), digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0092] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. For example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, magnetic or optical drives, floppy disks, or similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that works with a processor to perform the various steps or functions.

[0094] The computer program product provided in this application includes one or more computer programs / instructions. When executed by a processor, these computer programs / instructions generate, in whole or in part, the processes or functions described in this application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0095] The flowcharts or block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-specific system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0096] The scope of this application is defined by the appended claims rather than the foregoing description, and is therefore intended to encompass all variations falling within the meaning and scope of equivalents of the claims. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in a device claim may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used only for distinguishing descriptions and do not indicate any particular order, nor should they be construed as indicating or implying relative importance.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily made by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims, and the above embodiments should be regarded as exemplary and non-limiting.

Claims

1. A method for smooth control of a surgical robot, characterized in that, include: Obtain the current location data from the device; When the current position data meets the transition conditions, the current transition stage of the master terminal is determined; wherein, the transition stage includes: a transition stage from inside the boundary to the impedance region and a transition stage from the impedance region to inside the boundary; The impedance data and gravity compensation data of the current master terminal are obtained, and the feedback data of the master terminal is calculated through the transition function according to the conversion stage to achieve smooth control.

2. The smooth control method for a surgical robot according to claim 1, characterized in that, When the current location data meets the transition conditions, determining the current transition stage of the main device includes: Obtain the historical location data from the hand device; Based on the current location data and the historical location data, the movement trajectory of the slave device is identified, and the current transition stage of the master device is determined based on the movement trajectory.

3. The smooth control method for a surgical robot according to claim 1, characterized in that, The process of acquiring the current impedance data and gravity compensation data of the master handpiece, and calculating the feedback data of the master handpiece through a transition function based on the conversion stage to achieve smooth control includes: Obtain the impedance data and gravity compensation data of the current master hand device; The time-varying coefficients of the master terminal are determined based on the conversion stage; The feedback data of the master terminal is calculated using a transition function based on the impedance data, the gravity compensation data, and the time-varying coefficient.

4. The smooth control method for a surgical robot according to claim 3, characterized in that, Determining the time-varying coefficients of the master handpiece based on the conversion stage includes: When the transition stage is from the boundary to the impedance region, the time-varying coefficient smoothly decreases from 1 to 0. When the transition stage is a transition from the impedance region to the boundary region, the time-varying coefficient smoothly increases from 0 to 1.

5. The smooth control method for a surgical robot according to claim 3 or 4, characterized in that, The transition function is: time-varying coefficient × force difference + foundation force = feedback data; Specifically, when the conversion stage is the conversion stage from the boundary to the impedance zone, the force difference = impedance data - gravity compensation data; the gravity compensation data is the basic force.

6. The smooth control method for a surgical robot according to claim 1, characterized in that, Before determining the transition phase of the current master device when the current location data meets the transition conditions, the process further includes: Generate a boundary vector in Cartesian space based on the current location data; The pointing boundary vector is converted into an incremental target angle in joint space; Identify whether the incremental target angle meets the transition condition; The transition condition is that the incremental target angle is greater than 0 degrees and less than or equal to the target angle.

7. The smooth control method for a surgical robot according to claim 6, characterized in that, Also includes: When the incremental target angle is equal to 0 degrees, the gravity compensation data of the current main hand terminal is obtained, and the gravity compensation data is used as the feedback data of the main hand terminal. When the incremental target angle is less than the target angle, the impedance data of the current master terminal is obtained, and the impedance data is used as the feedback data of the master terminal.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as described in any one of claims 1 to 7.

9. A computer-readable medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

Images