Mounting position determination method, device, medium and product

Abstract

The application discloses a kind of installation position determination method, equipment, medium and product, applied to surgical robot technical field, wherein, method includes: the kinematic model of first master manipulator is established, based on kinematic model and the preset motion performance index threshold of first master manipulator, obtain the first joint operating space of each position joint in first master manipulator;Obtain surgical operation data set, obtain the second joint operating space associated with each position joint in first master manipulator based on surgical operation data set;Based on first joint operating space and second joint operating space, construct target function for analyzing installation position advantage and disadvantage;In installation position search space, solve the installation position coordinates of making target function optimal, for the optimal installation position of first master manipulator.The technical scheme of the embodiment of the application can determine a master hand installation position to meet mechanical performance requirements, ensure motion accuracy, and also meet actual surgical operation requirements.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a method, device, medium, and product for determining the installation position. Background Technology

[0002] In minimally invasive surgical robot systems, the master manipulator, acting as the main controller for the surgeon, directly impacts the flexibility and precision of the surgical procedure. Improper placement may cause joint angles to exceed mechanical limits, making certain surgical movements impossible. Therefore, during the assembly of the surgical robot system, it is crucial to determine an optimal position that ensures both the flexibility and precision of the master manipulator. Summary of the Invention

[0003] This invention provides a method, device, medium, and product for determining the installation position, which can determine a master hand installation position that meets mechanical performance requirements, ensures motion accuracy, and conforms to the actual surgical operation needs.

[0004] In a first aspect, embodiments of the present invention provide a method for determining an installation location, the method comprising: Based on the parameter information of the first master operator, a kinematic model of the first master operator is established. The kinematic model is used to describe the spatial pose of the master operator. Based on the kinematic model and the preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. Obtain the surgical operation dataset, and based on the surgical operation dataset, obtain the second joint operation space associated with each joint in the first master operator's hand; Based on the first joint operating space and the second joint operating space, an objective function is constructed to analyze the advantages and disadvantages of the installation position. Within the search space for the installation position of the first master operator, find the installation position coordinates that optimize the objective function, and use them as the optimal installation position for the first master operator.

[0005] Secondly, embodiments of the present invention also provide an installation position determining device, the device comprising: The first module is used to establish a kinematic model of the first master operator based on the parameter information of the first master operator. The kinematic model is used to describe the spatial pose of the master operator. The second module is used to obtain the first joint operation space of each joint in the first main operator based on the kinematic model and the preset motion performance index threshold of the first main operator. The third module is used to acquire the surgical operation dataset and obtain the second joint operation space associated with each joint in the first master operator's hand based on the surgical operation dataset. The fourth module is used to construct an objective function for analyzing the advantages and disadvantages of the installation position based on the operating space of the first joint and the operating space of the second joint. The fifth module is used to find the optimal installation position coordinates for the first main operator within the installation position search space, which makes the objective function optimal.

[0006] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the installation location determination method as described in any of the embodiments of the present invention.

[0007] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the installation location determination method as described in any of the embodiments of the present invention.

[0008] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the installation location determination method as described in any of the embodiments of the present invention.

[0009] In this embodiment of the invention, a kinematic model of the first master manipulator is established based on its parameter information. This kinematic model describes the spatial pose of the master manipulator. Based on the kinematic model and preset motion performance index thresholds of the first master manipulator, the first joint operation space of each joint in the first master manipulator is obtained. A surgical operation dataset is acquired, and a second joint operation space associated with each joint in the first master manipulator is obtained based on the surgical operation dataset. Based on the first and second joint operation spaces, an objective function is constructed to analyze the merits of the installation position. Within the installation position search space of the first master manipulator, the optimal installation position coordinates that optimize the objective function are solved, which are then taken as the optimal installation position of the first master manipulator. The technical solution of this embodiment of the invention solves the problem of lacking clinical application considerations in the determination and analysis of the master manipulator installation position. It can determine a master manipulator installation position that satisfies mechanical performance requirements, ensures motion accuracy, and meets the actual surgical operation needs. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1A flowchart illustrating a method for determining an installation location provided in an embodiment of the present invention; Figure 2 A flowchart illustrating another method for determining the installation location provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of an installation position determining device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0013] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. The acquisition, storage, use, and processing of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations.

[0014] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the relevant content of the solution.

[0015] Figure 1 This is a flowchart illustrating a method for determining the installation position according to an embodiment of the present invention. This embodiment is applicable to scenarios involving parameter analysis of surgical robot systems, particularly the analysis of the installation position of the main operator. The method can be executed by an installation position determination device, which can be implemented in software and / or hardware and integrated into a computer device.

[0016] like Figure 1 As shown, the method for determining the installation location includes the following steps: S110. Based on the parameter information of the first master operator, establish a kinematic model of the first master operator. The kinematic model is used to describe the spatial pose of the master operator.

[0017] The parameter information can refer to the inherent data that defines the mechanical structure of the main operator. This includes structural dimensions such as the length of each link of the main operator, the torsional angle between adjacent joint axes, and the type definition of whether the joint is rotary or translating.

[0018] A kinematic model can refer to a set of mathematical mapping relationships that describe the computational logic from the motion variables of each joint of the master manipulator to the position and orientation of the end effector in space, i.e., spatial pose.

[0019] An improved Denavit-Hartenberg (DH) parameter method can be used to measure and define the link length, link torsion angle, joint offset, and joint angle of each joint of the master operator. The homogeneous transformation matrices of the coordinate systems of each adjacent link are multiplied in sequence to construct a complete pose description model from the base to the end effector, which serves as the kinematic model.

[0020] Alternatively, based on the 3D digital design file of the main operator, the spatial position and orientation data of each joint axis can be directly extracted, the coordinate system of each link can be automatically generated, and a parametric model with joint angle as input and end pose as output can be established.

[0021] S120. Based on the kinematic model and the preset motion performance index threshold of the first master operator, the first joint operation space of each joint in the first master operator is obtained.

[0022] The preset motion performance index threshold can refer to a quantitative boundary value set by the operator to define the quality of the operator's motion performance. Specifically, it includes the lower limit of operability and the upper limit of the number of conditions.

[0023] Position joints refer to the joints in the master manipulator structure that are primarily responsible for controlling the spatial position of the end effector, typically the first three or a few joints that determine translational motion. The first joint operating space refers to a theoretical set of joint angles. Within this set, the value of each position joint ensures that the motion performance of the master manipulator meets preset threshold requirements.

[0024] In determining the first joint operating space, all possible angles of each joint within its mechanical limits can be traversed, the operability and condition number of each pose can be calculated, and only the joint angle combinations that simultaneously satisfy the operability being greater than the lower limit and the condition number being less than the upper limit are retained to form the first joint operating space.

[0025] Alternatively, an optimization problem with inequality constraints can be solved using the lower bound of operability and the upper bound of condition number as constraints, and the maximum range of motion of the continuous joint that satisfies these performance indicators can be directly calculated as the first joint operation space.

[0026] By screening performance indicators, an effective working area that combines high dexterity and high precision is precisely divided from the vast physically accessible space, directly avoiding the risk of operation entering a performance degradation zone due to installation location, which would lead to unsmooth movement or decreased accuracy.

[0027] In a specific embodiment, obtaining the first joint operating space of each joint in the first master operator can be based on a kinematic model, the mechanical limit of the first master operator, and a preset operability threshold to obtain the first joint range of motion of each joint in the first master operator; based on the kinematic model, the mechanical limit, and a preset condition number threshold of the first master operator, the second joint range of motion of each joint in the first master operator can be obtained; and the intersection of the first joint range of motion and the second joint range of motion can be calculated to obtain the first joint operating space.

[0028] Here, mechanical limits refer to the maximum and minimum angle restrictions that each joint of the first master manipulator can achieve in terms of physical structure; these are rigid boundaries. The preset operability threshold refers to a preset lower limit for operability. When the operability of the master manipulator is below this value, it is considered to have insufficient dexterity and approach a singular configuration. The range of motion of the first joint is the range of angles allowed for each joint position when only operability is considered as a single performance indicator.

[0029] Starting from a known pose where operability exceeds a threshold, individual joints can be slowly rotated in both positive and negative directions, with operability calculated in real time until the value drops to a preset threshold. The joint angle at this point is recorded as the boundary of the joint's movement under operability constraints, thus obtaining the first joint's range of motion. Alternatively, the operability value of each sampling point can be densely sampled and calculated within the entire mechanical constraint space of the joint. Then, a three-dimensional isosurface extraction algorithm can be used to extract the "shell" where operability equals the preset threshold; all angle points within this shell constitute the first joint's range of motion. Furthermore, based on a kinematic model, an analytical expression for operability can be directly derived. Then, the inequality "operability exceeds a preset threshold" can be solved, and combined with mechanical constraints, the allowable angle range of each joint position can be analytically calculated as the first joint's range of motion.

[0030] The preset condition number threshold refers to a pre-defined upper limit value for the condition number. The condition number is an indicator of the isotropy of motion transmission and control accuracy. When the condition number exceeds this upper limit, the motion accuracy and stability of the system are considered to decrease significantly. The second joint range of motion refers to the range of motion angles allowed for each joint when only considering the condition number as a single performance indicator. Starting from the ideal pose with the condition number closest to 1, each joint is controlled to rotate in both positive and negative directions, and the condition number is calculated in real time until it rises to the preset upper limit threshold. The joint angle at this moment is recorded as the activity boundary of that joint under the condition number constraint, thus obtaining the second joint range of motion.

[0031] Furthermore, for each position joint, its minimum and maximum angles within the range of motion of the first and second joints are compared, and the larger of the two sets of boundaries (minimum and maximum) is taken to form the final allowable angle range for that joint. The combination of the final ranges for all position joints constitutes the operating space of the first joint.

[0032] In another optional implementation, obtaining the first joint operating space of each joint in the first master operator may further include obtaining the force feedback uniformity coefficient of each joint in the first master operator in the first joint range of motion and the second joint range of motion based on a kinematic model; under the constraint of a preset force feedback uniformity coefficient threshold, obtaining the third joint range of motion of each joint in the first master operator according to the force feedback uniformity coefficient; and calculating the intersection of the first joint range of motion, the second joint range of motion, and the third joint range of motion to obtain the first joint operating space.

[0033] Based on the range of motion of the first and second joints, a third range of motion is further determined using a force feedback uniformity coefficient. The force feedback uniformity coefficient can be an index used to quantitatively evaluate the isotropic nature of force perception in the primary operator's hand; it measures the consistency of the feedback force felt by the operator when pushing the handle in different directions. The preset force feedback uniformity coefficient threshold can be a preset lower or upper limit value used to define whether the uniformity of the force perception experience meets the standard.

[0034] In determining the third range of motion, the intersection of the first and second joint ranges of motion can be used as the initial search domain. Within this domain, the joint angle combinations at each position are traversed, and the corresponding force feedback uniformity coefficient is calculated one by one. Only the angle combinations that meet the preset force feedback uniformity coefficient threshold are retained to form the third joint range of motion. Alternatively, the force Jacobian matrix of the master operator can be derived based on a kinematic model. Within the intersection of the first and second joint ranges of motion, the isotropic degree of force transmission under each angle combination is calculated, and the angle intervals that meet the force feedback uniformity coefficient threshold are extracted as the third joint range of motion. Another approach is to establish a Cartesian space impedance model of the master operator, evaluate the virtual stiffness differences in different directions under each angle combination within the intersection of the first and second joint ranges of motion, and use the angle intervals whose differences meet the preset threshold as the third joint range of motion.

[0035] The intersection of the range of motion of the first joint, the range of motion of the second joint, and the range of motion of the third joint is calculated to obtain the operating space of the first joint. By introducing a quantitative evaluation of the force feedback uniformity coefficient, force performance constraints are further superimposed on the kinematic screening of the first two steps, ensuring that the selected range of motion of the joint can not only move nimbly and accurately, but also provide the operator with an isotropic and realistic force experience.

[0036] S130. Obtain the surgical operation dataset and, based on the surgical operation dataset, obtain the second joint operation space associated with each joint in the first master operator's hand.

[0037] Surgical operation datasets refer to collections of digital information reflecting surgeons' operating habits and pathways, recorded from real surgical cases or high-fidelity simulated surgeries. Their core content is the sequence of position and posture changes of the primary operating hand's end effector over time.

[0038] The second joint operating space can refer to an actual set of joint angles. It reflects the range of angles used by the joints of the primary surgeon at various positions under the drive of a real surgical task. When multiple surgeons are conducting animal experiments or clinical surgeries, the joint encoder data of the primary surgeon is directly collected, and the positional joint angle values ​​of all surgeons during the operation are summarized and statistically analyzed to form the second joint operating space.

[0039] Virtual reality surgical simulators can be used to allow doctors of different experience levels to complete standardized surgical tasks, record the movement trajectory of the primary hand end during the operation, and then use inverse kinematics to solve the end trajectory into the angle change range of each joint, thereby obtaining the second joint operation space.

[0040] Alternatively, the motion trajectory of the end effector of the primary operator can be extracted from an existing surgical video database using computer vision technology. This trajectory can then be mapped to the joint space of the primary operator using an inverse kinematics algorithm, thereby constructing a second joint operating space that reflects the actual operational needs.

[0041] S140. Based on the first joint operating space and the second joint operating space, construct an objective function for analyzing the advantages and disadvantages of the installation position.

[0042] The objective function can refer to a calculation criterion used to quantitatively evaluate the quality of an installation location. Its result is a numerical value, the magnitude of which directly corresponds to the degree to which the theoretically optimal performance space covers the actual commonly used operating space at the current installation location.

[0043] The operating spaces of both the first and second joints can be transformed into a Cartesian workspace, forming two 3D point clouds. The size of the intersection volume of these two point clouds is then used as the objective function. As the installation position changes, the intersection volume changes, and its maximum value represents the optimal position.

[0044] Alternatively, keep the point cloud in the first joint's operating space unchanged, and change the installation position, which is equivalent to moving the pose of the point cloud in the second joint's operating space. Calculate the percentage of points in the second point cloud that fall into the first point cloud after the movement, and use this percentage as the objective function. The higher the percentage, the better the position.

[0045] S150. Within the search space for the installation position of the first main operator, find the installation position coordinates that optimize the objective function, and use them as the optimal installation position for the first main operator.

[0046] The installation location search space refers to the range of planar coordinates and heights within which the main operator can be installed, constrained by actual physical installation limitations such as the operating table, the doctor's position, and the way the robotic arm base is fixed. Determining the installation location search space involves obtaining the range of coordinate values ​​for the installation location based on the installation coordinates of the first main operator and mechanical installation limitations, and then forming the planar installation location search space based on this range of coordinate values.

[0047] The optimal installation location coordinates can be found by using a grid search method within a rectangular area defined by the length and width of the operating table edge. The objective function value is calculated for each grid point in centimeters. After the traversal is complete, the coordinates of the grid point with the highest function value are the optimal installation location.

[0048] Alternatively, within the permitted installation area, a particle swarm optimization algorithm can be used to randomly initialize a group of particles representing candidate installation locations. Through mutual learning and iterative updates among the particles, the particle swarm can be converged to the coordinate point that maximizes the objective function value.

[0049] By automating optimization within realistic physical installation constraints, the resulting optimal coordinates can directly guide engineering installation, systematically solving the three major problems of joint over-limit, unsmooth operation, and reduced accuracy from the root.

[0050] In one optional implementation, within the installation position search space of the first main operator, the optimal installation position coordinates that optimize the objective function are determined, which is then used as the optimal installation position of the first main operator. This can be achieved by adjusting the installation position coordinates of the first main operator within the installation position search space to adjust the relative positional relationship between the first joint operating space and the second joint operating space; based on the relative positional relationship, the degree of overlap between the first joint operating space and the second joint operating space is obtained; and the installation position coordinates that maximize the degree of overlap are taken as the optimal installation position of the first main operator; wherein, the objective function is the degree of overlap between the first joint operating space and the second joint operating space.

[0051] The technical solution of this invention establishes a kinematic model of the first master operator based on parameter information, which describes the spatial pose of the master operator. Based on the kinematic model and preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. A surgical operation dataset is acquired, and a second joint operation space associated with each joint in the first master operator is obtained based on the surgical operation dataset. An objective function for analyzing the merits of the installation position is constructed based on the first and second joint operation spaces. Within the installation position search space of the first master operator, the optimal installation position coordinates that optimize the objective function are solved, which are then taken as the optimal installation position of the first master operator. This embodiment addresses the problems of operational failure, motion lag, and decreased accuracy caused by improper installation position by integrating actual operational requirements with theoretical performance indicators, constructing a quantifiable installation position evaluation system. This ensures that the determined installation position ensures that the doctor's commonly used operating area falls precisely within the high dexterity and high precision performance range of the master hand.

[0052] Figure 2 This is a flowchart illustrating a method for determining the installation position according to an embodiment of the present invention. This embodiment is applicable to scenarios involving parameter analysis of surgical robot systems, particularly the analysis of the installation position of the main operator. This method can be executed by an installation position determination device, implemented through software and / or hardware, and integrated into a computer device.

[0053] like Figure 2 As shown, the method for determining the installation location includes the following steps: S210. Based on the parameter information of the first master operator, establish a kinematic model of the first master operator. The kinematic model is used to describe the spatial pose of the master operator.

[0054] S220. Based on the kinematic model and the preset motion performance index threshold of the first master operator, the first joint operation space of each joint in the first master operator is obtained.

[0055] S230: Obtain the trajectory data of the main operator of the surgical robot system under the operation of different operators; based on each trajectory data, obtain multiple sets of first motion points of each joint in the first main operator, as the second joint operation space.

[0056] Among them, the trajectory data can refer to the sequence of position and posture changes of the end effector of the main operating hand over time when different operators operate the main operating hand during actual or simulated surgery.

[0057] The first set of motion points can refer to the trajectory data of the master operator under the operation of a single operator. Through inverse kinematics, the pose sequence of the end effector is transformed into a set of angle values ​​of each joint, forming a scattered distribution in the joint space.

[0058] The second joint operating space can refer to the collection of the first motion points of all operators, reflecting the total actual joint usage range under different operating habits.

[0059] It allows multiple doctors with different surgical experiences to complete standardized surgical tasks on a virtual reality surgical simulator. The system background records the real-time angle data of each joint encoder during each doctor's operation, directly forming the first motion point set of each doctor.

[0060] Alternatively, joint motor feedback data from multiple real clinical surgeries can be collected, the data can be grouped by doctor number, each group of data can be denoised and statistically analyzed, the angular distribution range of the joints at each doctor's position during operation can be extracted, and the corresponding first motion point set can be generated.

[0061] S240. Convert the first joint operation space into a second set of motion points; make the center point of each first set of motion points coincide with the center point of the second set of motion points, and obtain the height difference between the coincident center points.

[0062] The second motion point set refers to a three-dimensional point set representing the theoretically optimal reachable region, formed by mapping the joint angles in the first joint operation space to the Cartesian workspace through forward kinematics.

[0063] The center point can refer to the geometric center position obtained by averaging the spatial coordinates of all data points in the first or second set of moving points, representing the central tendency of the point set in space.

[0064] The height difference can refer to the vertical distance between the two center points after aligning and coinciding the center of the first and second motion point sets of an operator in the horizontal direction.

[0065] Specifically, the spatial geometric center of the second set of motion points corresponding to the theoretically optimal region can be calculated, and then the spatial geometric center of the first set of motion points for each doctor can be calculated one by one. In the software, the point set of each doctor is translated so that its center is aligned with the center of the theoretical point set on the horizontal coordinate. At this time, the difference between the two vertical coordinates is recorded as a height difference sample.

[0066] Alternatively, the two point sets can be projected onto the horizontal plane, the centroids of the two point cloud contours can be calculated, the two centroids can be moved to coincide, and the vertical offset of the two original point sets can be measured. This offset is the height difference.

[0067] S250, The range of height difference values ​​is taken as the range of values ​​for the installation position coordinates of the first master operator in the longitudinal coordinate.

[0068] The range of height difference refers to the interval between the minimum and maximum values ​​formed by the height difference values ​​between the first set of motion points of all operators and the second set of motion points obtained in step S240.

[0069] The range of values ​​for the longitudinal coordinate can refer to the allowable adjustment range of the base mounting point in the vertical direction during installation by the main operator.

[0070] The minimum and maximum values ​​of all height differences can be found by sorting, and this closed interval can be directly set as the adjustable range of the mounting base in the vertical direction.

[0071] S260. By using an optimization algorithm to iteratively calculate within the installation location search space, the installation location coordinates that maximize the intersection of the first set of moving points and the second set of moving points are obtained.

[0072] An optimization algorithm can refer to a computational method that automatically finds the optimal solution to a preset objective from a set of possible solutions through iteration, such as genetic algorithms and particle swarm optimization.

[0073] The installation location search space is the range of planar coordinates within which the main operator can be installed, constrained by actual physical constraints such as the operating table, the doctor's position, and the way the robotic arm base is fixed.

[0074] The intersection reaching its maximum value can mean that when the main operator is installed at a certain coordinate, the number of points or volume percentages that overlap spatially with the theoretically optimal set of second movement points after the first movement point set of all operators is merged reach the maximum, which means that the actual use needs match the theoretical best performance to the highest degree.

[0075] Within a rectangular plane defined by the length and width of the operating table edge, a grid search method can be used to calculate the intersection size of each candidate installation point in centimeters. After traversing all grid points, the coordinates of the grid point with the largest intersection are taken as the optimal installation position.

[0076] Alternatively, a genetic algorithm can be used to encode the planar installation coordinates as individual genes, randomly generate an initial population, and evolve generation by generation through selection, crossover, and mutation operations. The fitness of individuals is evaluated by the size of the intersection in each generation, and finally the optimal installation position coordinates that maximize the intersection are evolved.

[0077] The technical solution of this invention involves establishing a kinematic model of the first master operator based on parameter information. This kinematic model describes the spatial pose of the master operator. Based on the kinematic model and preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. The trajectory data of the master operator under different operator operations of the surgical robot system are obtained. Based on each trajectory data, multiple first motion point sets of each joint in the first master operator are obtained as a second joint operation space. The first joint operation space is converted into a second motion point set. The center point of each first motion point set coincides with the center point of the second motion point set, and the height difference between the coincident center points is obtained. The range of the height difference is used as the range of values ​​for the installation position coordinates of the first master operator in the longitudinal coordinate. An optimization algorithm is used to iteratively calculate within the installation position search space to find the installation position coordinates that maximize the intersection of the first motion point set and the second motion point set. The technical solution in this embodiment establishes a kinematic model and integrates actual trajectory data from multiple operators, transforming the problem of determining the installation position into a problem of maximizing the intersection of two spatial point sets: theoretical and practical. Furthermore, it determines the optimal installation range from both vertical and horizontal dimensions, ensuring that while the main operator is compatible with different doctors' operating habits, their commonly used working area remains within a high-dexterity, high-precision performance range. This systematically solves the problems of operational failure, motion lag, and decreased accuracy caused by improper installation positions.

[0078] In a specific instance, determining the installation location of the main operator includes the following steps: The first step is to establish the master-hand coordinate system using DH parameters.

[0079] This embodiment uses the standard DH method to establish the robot's kinematic model, wherein the DH parameters include , , , Where i = (1, 2...7 represents joint identifiers). The meanings of each parameter are as follows: in, For link offset, it means that X i-1 Along Z i-1 Translate axis to X i The distance; The length of the link is represented by Z. i-1 Along X i Translate axis to Z i The distance; Let Z be the link torsion angle, indicating that Z is... i-1 Along X i Rotate the axis to Z i Angle; To represent the angle of rotation about the Z-axis of joint i, let X i-1 Axis and X i Axis alignment. Additionally... This represents the joint angle of the i-th joint.

[0080] For details on the DH parameter table, please refer to Table 1. Table 1 DH Parameter Table Where Pi represents π, the ratio of a circle's diameter to its circumference.

[0081] The second step is to calculate the operability. The formula for calculating operability can be expressed as: Where J represents the Jacobian matrix. Based on the main hand mechanical limit and operability threshold range, a set of position joint angles that meet the conditions can be selected, denoted as the first limited angle range R1. The position joints can be the 1st, 2nd, 4th, and 7th joints.

[0082] The third step is to calculate the condition number. The process of calculating the condition number can be represented as follows: .

[0083] Based on the agreed-upon threshold range of conditions, a set of position joint angles that meet the conditions is selected and denoted as the second limited angle range R2.

[0084] The fourth step is to calculate the uniformity coefficient of the force feedback. The formula for calculating the uniformity coefficient of force feedback can be expressed as: . The force feedback uniformity coefficient is an indicator that measures the consistency of force feedback perception of a robotic arm under different poses. This represents the force feedback gain coefficient in the i-th direction. express The average value. External force vector at the end of the Cartesian space.

[0085] Based on the preset force feedback uniformity coefficient threshold range, a set of position joint angles that meet the conditions is selected and denoted as the third limited angle range R3.

[0086] Fifth, take the intersection of the limited ranges of the second, third and fourth steps, and R4 is the fourth limited angle range of the main hand position joint. .

[0087] Through the above steps, the intersection of the activity ranges selected from the three dimensions of motion dexterity, control precision, and force feedback uniformity is taken, and multiple performance constraints are combined into one. The resulting fourth limiting angle range is a high-quality working area that meets all the standards in terms of comprehensive performance. This ensures from the root that the operation in this space is not only smooth and precise, but also has a real and consistent force feedback experience.

[0088] The sixth step is to form point sets from the surgical data collected from different doctors, and record them as the first point set graph P1.

[0089] Step 7: Form a point set from the limited angle range R4 obtained in step 5, and denote it as the second point set graph P2.

[0090] Step 8: Set the optimal installation position coordinates of the main arm as (x, y), and determine the maximum and minimum values ​​of x and y according to the mechanical installation constraints to form the installation position search space.

[0091] Step 9: Read the first point set image P1 of any group of doctors, align its center point with the center point of the second point set image P2, and record the height difference as H. i Repeat the above steps until all doctor data has been read. Take the maximum and minimum values ​​of the set of all Hi values ​​to obtain the range of rise and fall thresholds in the z-direction. .

[0092] Step 10: Assuming the optimal installation position of the main arm is (x, y), based on the actual spatial constraints of the mechanical installation, set: .

[0093] Define the objective function as the size of the intersection of point set graphs P1 and P2: .

[0094] Where P2(x,y) represents the coordinates after the point set P1 is translated to the installation position (x,y).

[0095] A genetic algorithm is used for optimization, with the following parameters: population size 50, number of iterations 100, crossover probability 0.8, and mutation probability 0.05. The coordinates (x*, y*) that maximize f(x, y) are found, and the resulting (x*, y*) is the optimal installation position for the master.

[0096] The above ten steps establish a DH parameter kinematic model, comprehensively selecting the theoretically optimal workspace based on the triple performance constraints of operability, condition number, and force feedback uniformity coefficient. This workspace is then spatially matched with the actual operational trajectory point set of multiple doctors. The vertical installation range is determined using center point alignment, and the horizontal installation position is optimized using a genetic algorithm. The final determined installation position ensures that the doctor's frequently used operating area falls within the high dexterity, high precision, and force feedback uniformity performance range of the master hand to the greatest extent possible. This systematically solves the problems of operational failure, motion jamming, and force feedback distortion caused by improper installation position, thereby improving the operational flexibility and surgical safety of the surgical robot system.

[0097] Figure 3 This is a schematic diagram of the installation position determination device provided in an embodiment of the present invention. This embodiment is applicable to scenarios where parameters of a surgical robot system are analyzed, particularly the installation position of the main operator. The device can be implemented in software and / or hardware and integrated into a computer device.

[0098] like Figure 3 As shown, the installation location determination device includes: a first module 310, a second module 320, a third module 330, a fourth module 340, and a fifth module 350.

[0099] The system comprises the following modules: First module 310, which establishes a kinematic model of the first master manipulator based on its parameter information; second module 320, which obtains the first joint operation space of each joint in the first master manipulator based on the kinematic model and preset motion performance index thresholds of the first master manipulator; third module 330, which acquires a surgical operation dataset and obtains the second joint operation space associated with each joint in the first master manipulator based on the surgical operation dataset; fourth module 340, which constructs an objective function for analyzing the merits of the installation position based on the first and second joint operation spaces; and fifth module 350, which solves for the optimal installation position coordinates within the installation position search space of the first master manipulator to optimize the objective function, thus determining the optimal installation position of the first master manipulator.

[0100] The technical solution of this invention establishes a kinematic model of the first master operator based on parameter information, which describes the spatial pose of the master operator. Based on the kinematic model and preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. A surgical operation dataset is acquired, and a second joint operation space associated with each joint in the first master operator is obtained based on the surgical operation dataset. An objective function for analyzing the merits of the installation position is constructed based on the first and second joint operation spaces. Within the installation position search space of the first master operator, the optimal installation position coordinates that optimize the objective function are solved, which are then taken as the optimal installation position of the first master operator. This embodiment addresses the problems of operational failure, motion lag, and decreased accuracy caused by improper installation position by integrating actual operational requirements with theoretical performance indicators, constructing a quantifiable installation position evaluation system. This ensures that the determined installation position ensures that the doctor's commonly used operating area falls precisely within the high dexterity and high precision performance range of the master hand.

[0101] In one alternative implementation, the second module 320 is specifically used for: Based on the kinematic model, the mechanical limit of the first main operator, and the preset operability threshold, the range of motion of the first joint of each position in the first main operator is obtained. Based on the kinematic model, mechanical limit, and the preset condition number threshold of the first master operator, the range of motion of the second joint of each position in the first master operator is obtained. The intersection of the range of motion of the first joint and the range of motion of the second joint is calculated to obtain the operating space of the first joint.

[0102] In an alternative implementation, the second module 320 may also be used for: Based on the kinematic model, the force feedback uniformity coefficient of each joint in the first master manipulator is obtained in the first joint range of motion and the second joint range of motion. Under the constraint of a preset force feedback uniformity coefficient threshold, the range of motion of the third joint of each position joint in the first master operator is obtained according to the force feedback uniformity coefficient. The intersection of the range of motion of the first joint, the range of motion of the second joint, and the range of motion of the third joint is calculated to obtain the operating space of the first joint.

[0103] In one alternative implementation, the third module 330 is specifically used for: Obtain the trajectory data of the main operator of the surgical robot system under different operator operations; Based on the trajectory data, multiple sets of first motion points for each joint in the first master operator are obtained, serving as the second joint operation space. In an optional implementation, the fifth module 350 can also be used for: Convert the first joint operation space into the second set of motion points; Make the center point of each first set of motion points coincide with the center point of the second set of motion points, and obtain the height difference between the coincident center points; The range of height difference values ​​is used as the range of values ​​for the installation position coordinates of the first master operator in the longitudinal coordinate system.

[0104] In an alternative implementation, the fifth module 350 can also be used for: The installation position coordinates that maximize the intersection of the first set of moving points and the second set of moving points are obtained by iterative calculation in the installation position search space using an optimization algorithm.

[0105] In an alternative implementation, the fifth module 350 can also be used for: Within the installation position search space of the first main operator, adjust the installation position coordinates of the first main operator to adjust the relative positional relationship between the first joint operating space and the second joint operating space. Based on the relative positional relationship, the degree of overlap between the operating space of the first joint and the operating space of the second joint is obtained; The installation position coordinates that maximize the degree of overlap will be taken as the optimal installation position for the first master operator. The objective function is the degree of overlap between the first joint operation space and the second joint operation space.

[0106] In one optional implementation, determining the installation location search space includes: Based on the installation position coordinates of the first main operator and the mechanical installation constraints, the range of coordinate values ​​for the installation position is obtained, and a planar installation position search space is formed based on the range of coordinate values.

[0107] The installation location determination device provided in the embodiments of the present invention can execute the installation location determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0108] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 4 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 4 The computer device 12 shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities, such as intelligent controllers and servers, mobile phones, etc., and can be configured in a surgical robot system or a surgical robot research system.

[0109] like Figure 4As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0110] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0111] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0112] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4 As not shown, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0113] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0114] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 4 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0115] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the installation location determination method provided in this embodiment, which includes: Based on the parameter information of the first master operator, a kinematic model of the first master operator is established. The kinematic model is used to describe the spatial pose of the master operator. Based on the kinematic model and the preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. Obtain the surgical operation dataset, and based on the surgical operation dataset, obtain the second joint operation space associated with each joint in the first master operator's hand; Based on the first joint operating space and the second joint operating space, an objective function is constructed to analyze the advantages and disadvantages of the installation position. Within the search space for the installation position of the first master operator, find the installation position coordinates that optimize the objective function, and use them as the optimal installation position for the first master operator.

[0116] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the installation location determination method as provided in any embodiment of the present invention, the method comprising: Based on the parameter information of the first master operator, a kinematic model of the first master operator is established. The kinematic model is used to describe the spatial pose of the master operator. Based on the kinematic model and the preset motion performance index thresholds of the first master operator, the first joint operation space of each joint in the first master operator is obtained. Obtain the surgical operation dataset, and based on the surgical operation dataset, obtain the second joint operation space associated with each joint in the first master operator's hand; Based on the first joint operating space and the second joint operating space, an objective function is constructed to analyze the advantages and disadvantages of the installation position. Within the search space for the installation position of the first master operator, find the installation position coordinates that optimize the objective function, and use them as the optimal installation position for the first master operator.

[0117] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage 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 computer-readable storage media (a non-exhaustive list) include: 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 document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0118] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0119] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0120] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar 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 it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0122] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the installation location determination method as provided in any embodiment of this application.

[0123] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar 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 it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for determining an installation location, characterized in that, include: Based on the parameter information of the first main operator, a kinematic model of the first main operator is established, and the kinematic model is used to describe the spatial pose of the first main operator. Based on the kinematic model and the preset motion performance index threshold of the first main operator, the first joint operation space of each joint in the first main operator is obtained. Obtain a surgical operation dataset, and based on the surgical operation dataset, obtain a second joint operation space associated with each joint in the first master operator's hand; Based on the first joint operating space and the second joint operating space, an objective function is constructed to analyze the advantages and disadvantages of the installation position; wherein, the objective function is the degree of overlap between the first joint operating space and the second joint operating space; Within the search space for the installation position of the first main operator, the installation position coordinates that optimize the objective function are determined, and these coordinates are taken as the optimal installation position of the first main operator.

2. The method according to claim 1, characterized in that, The step of obtaining the first joint operation space of each joint in the first main operator based on the kinematic model and the preset motion performance index threshold of the first main operator includes: Based on the kinematic model, the mechanical limits of the first main manipulator, and the preset operability threshold, the range of motion of the first joint at each position of the first main manipulator is obtained. Based on the kinematic model, the mechanical limit, and the preset condition number threshold of the first main operator, the range of motion of the second joint of each position joint in the first main operator is obtained; The intersection of the range of motion of the first joint and the range of motion of the second joint is calculated to obtain the operating space of the first joint.

3. The method according to claim 2, characterized in that, The step of obtaining the first joint operation space of each joint in the first main operator based on the kinematic model and the preset motion performance index threshold of the first main operator further includes: Based on the kinematic model, the force feedback uniformity coefficient of each joint in the first main operator hand in the range of motion of the first joint and the range of motion of the second joint is obtained. Under the constraint of a preset force feedback uniformity coefficient threshold, the range of motion of the third joint of each position joint in the first main operator hand is obtained according to the force feedback uniformity coefficient. The intersection of the range of motion of the first joint, the range of motion of the second joint, and the range of motion of the third joint is calculated to obtain the operating space of the first joint.

4. The method according to claim 1, characterized in that, The step of acquiring the surgical operation dataset and obtaining the second joint operation space associated with each joint in the first master operator's hand based on the surgical operation dataset includes: Obtain the trajectory data of the main operator of the surgical robot system under different operator operations; Based on the aforementioned trajectory data, multiple sets of first motion points for each joint in the first master operator are obtained, which serve as the second joint operation space.

5. The method according to claim 4, characterized in that, Also includes: Convert the first joint operation space into a second set of motion points; Make the center point of each of the first motion point sets coincide with the center point of the second motion point set, and obtain the height difference between the coincident center points; The range of the height difference is taken as the range of values ​​for the installation position coordinates of the first main operator in the longitudinal coordinate.

6. The method according to claim 5, characterized in that, The step of finding the optimal installation position coordinates for the objective function within the installation position search space of the first main operator includes: The optimization algorithm iteratively calculates within the installation location search space to find the installation location coordinates that maximize the intersection of the first set of moving points and the second set of moving points.

7. The method according to claim 1, characterized in that, The step of finding the optimal installation position coordinates for the first main operator within the installation position search space that optimizes the objective function, and using these coordinates as the optimal installation position for the first main operator, includes: Within the installation position search space of the first main operator, adjust the installation position coordinates of the first main operator to adjust the relative positional relationship between the first joint operating space and the second joint operating space. Based on the relative positional relationship, the degree of overlap between the first joint operating space and the second joint operating space is obtained; The installation position coordinates that maximize the degree of overlap will be taken as the optimal installation position of the first main operator.

8. The method according to any one of claims 1-7, characterized in that, The determination of the installation location search space includes: Based on the installation position coordinates of the first main operator and mechanical installation constraints, the coordinate range of the installation position is obtained, and a planar installation position search space is formed based on the coordinate range.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the installation location determination method as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the installation location determination method as described in any one of claims 1-8.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the installation location determination method as described in any one of claims 1-8.

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