Control method of surgical robot, medium, device

Abstract

This application relates to a control method, medium, and device for a surgical robot. The surgical robot includes a master hand control device and an instrument device. The master hand control device includes an operating end, which comprises a first part and a second part near the operator, with a connection area between the first part and the second part. The control method includes: determining hand data corresponding to the operating end based at least on detection results near the connection area; and determining, based on the hand data, whether to establish or de-mapping the mapping between the operation of the master hand control device and the movement of the instrument device. This configuration allows for establishing / de-mapping the mapping between the operator's operation at the operating end and the movement of the instrument end of the instrument device based on the detection results of the connection area. By accurately and timely establishing / de-mapping the mapping between the operating end and the instrument end, the safety and reliability of the surgical robot are expected to be improved.

Description

Technical Field

[0001] This application relates to the field of medical robot technology, specifically providing a control method for a surgical robot, a computer-readable storage medium, and a computer device. Background Technology

[0002] Surgical robots primarily employ minimally invasive methods to perform surgery and diagnosis on patients. Because minimally invasive methods can significantly reduce damage to the patient's tissues, they have been widely used in permissible categories of surgery and diagnosis.

[0003] Taking surgery as an example, a surgical robot typically includes a master control unit, instrument components, and an imaging system. The master control unit is usually located at the surgeon's console outside the sterile area of ​​the operating room. The surgeon's console uses visual data related to the current surgery, such as video and images, provided by the imaging system, to perform surgical operations such as gripping, rotation, and pitching at the operating end of the master control unit. The instrument components located at the bedside are mainly used to directly apply surgical actions corresponding to the surgeon's operations to the patient. The imaging system, in addition to providing visual data related to the current surgery to the surgeon at the console, also provides visual data related to the current surgery to the bedside assistant surgeon.

[0004] To ensure the safety and reliability of the surgery, the mapping between the operation of the operating end and the movement of the instrument components is only allowed when the surgeon's hand is in the expected position (position and posture) relative to the operating end of the main hand control device. If the surgeon's hand leaves the operating end of the main hand control device or the position is incorrect (not in place), the mapping between the operation of the operating end and the movement of the instrument components should be immediately released. Currently, the relative positional relationship between the surgeon's hand and the operating end of the main hand control device is generally determined by collecting data on the surgeon's hand. However, the structure of the operating end often exhibits diverse characteristics (e.g., the operating end includes multiple replaceable end structures, and different main hand control devices have significantly different contours), leading to difficulties in detection and inaccurate results. Summary of the Invention

[0005] This application aims to solve at least part of the above-mentioned technical problems and / or at least part of the above-mentioned technical problems. Specifically, it aims to solve how to detect the operator's hand data as accurately as possible, and based on this, to establish / de-establish the mapping between the operation of the master hand control device and the movement of the instrument device as accurately and timely as possible, thereby improving the safety and reliability of the surgical robot.

[0006] In view of this, in a first aspect, this application provides a control method for a surgical robot, the surgical robot including a master hand control device and an instrument device, wherein the master hand control device includes an operating end, the operating end including a first part and a second part near the operator, and a connection area between the first part and the second part; wherein the control method includes: determining hand data corresponding to the operating end based at least on detection results near the connection area; and determining, based on the hand data, whether to establish or de-establish a mapping between the operation of the master hand control device and the action of the instrument device.

[0007] With this configuration, it is possible to determine whether to establish / dissolve the mapping between the operating end and the instrument end based on the detection results of the connection area.

[0008] In one possible implementation of the control method for the surgical robot described above, the operating end includes a clamp, which is disposed in the first part, and the connecting area is located between the clamp and the second part.

[0009] In this way, since the clamp is located in the first part, it will not affect the test results.

[0010] In one possible implementation of the control method for the surgical robot described above, the operating end includes a gripping part, at least a portion of which constitutes the second part, and the connecting area is disposed between the gripping part and the first part, or a portion of the gripping part constitutes the connecting area.

[0011] In one possible implementation of the control method for the surgical robot described above, the master hand control device includes: a first link; and a second link disposed on the first link; wherein the operating end is disposed on the second link, and at least one drive transmission mechanism is also disposed on the second link; the master hand control device is configured with a detection unit, the detection unit including: a first detection component disposed on the first link; in the step of "determining hand data corresponding to the operating end based at least on the detection result of the connection area", the detection result is the detection result obtained based on the first detection component.

[0012] In one possible implementation of the control method for the surgical robot described above, the first link includes a lateral portion and a longitudinal portion, wherein the second link is disposed in the lateral portion and the first detection component is disposed in the longitudinal portion.

[0013] This configuration aims to avoid the impact of yaw motion at the control end on the test results.

[0014] In one possible implementation of the control method for the surgical robot described above, the longitudinal portion includes a mounting area, and the first detection component includes one or more first detection parts disposed in the mounting area. In the case where there are multiple first detection parts, in the step of "determining hand data corresponding to the operating end based at least on the detection results of the connecting area", the detection result is a detection result obtained based on at least one of the multiple first detection parts.

[0015] In one possible implementation of the control method for the surgical robot described above, the first detection component includes two first detection parts disposed along the height direction in the mounting area, wherein the two signal radiation areas of the two first detection parts do not overlap with the connecting area.

[0016] In one possible implementation of the control method for the surgical robot described above, the mounting area includes multiple mounting positions, and at least one of the two first detection components can be disposed on at least two of the multiple mounting positions; or at least one of the two first detection components can be movably disposed on the mounting position.

[0017] This configuration allows for the assurance of reliable installation of the first detection component through the use of multiple mounting positions.

[0018] In one possible implementation of the control method for the surgical robot described above, the first link is provided with a mounting hole at a position corresponding to the mounting area, the first detection component can be disposed in the mounting hole, and in the assembled state, there is no overlap between the outline of the mounting hole and the signal radiation area of ​​the first detection component.

[0019] This configuration allows us to avoid interference from the mounting holes with the signal radiation area of ​​the first detection component.

[0020] In one possible implementation of the control method for the surgical robot described above, the detection unit includes a second detection component disposed in the space area where the master hand control device and / or the master hand control device is located. In the step of "determining hand data corresponding to the operating end based at least on the detection results of the connection area", the detection result is the detection result obtained based on the first detection component and the second detection component.

[0021] This configuration allows for the use of a second detection component to ensure the accuracy of the detection results.

[0022] In one possible implementation of the control method for the surgical robot described above, the step of "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the hand data" includes: acquiring one or more of the hand data; determining intermediate data based on one or more of the hand data; and determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the intermediate data.

[0023] In one possible implementation of the control method for the surgical robot described above, the "determining intermediate data based on one or more of the hand data" includes: determining intermediate data based on one or more of the hand data detected sequentially, in the order of detection time.

[0024] In one possible implementation of the control method for the surgical robot described above, the phrase "determining intermediate data based on one or more of the detected hand data in sequence according to the detection time" includes: selecting one or more of the nearest hand data in sequence according to the detection time, and determining an intermediate data based on it; correspondingly, the phrase "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the intermediate data" includes: determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on one or more of the intermediate data.

[0025] In one possible implementation of the above-mentioned control method for the surgical robot, the step of "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on one or more of the intermediate data" includes: determining whether each of the intermediate data is valid data; and determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the determination result.

[0026] In one possible implementation of the above-mentioned control method for the surgical robot, in the step of "determining intermediate data based on one or more hand data; determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the intermediate data": whether to establish the mapping between the operation of the master hand control device and the action of the instrument device is determined based on M1 pieces of acquired intermediate data; whether to de-establish the mapping between the operation of the master hand control device and the action of the instrument device is determined based on N1 pieces of acquired intermediate data; wherein, M1≥N1.

[0027] This design allows for the use of differentiated judgment mechanisms to ensure the safety and reliability of surgical robots.

[0028] In one possible implementation of the control method for the surgical robot described above, the step of "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the hand data" includes: acquiring one or more of the hand data; and determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on one or more of the hand data.

[0029] In one possible implementation of the above-mentioned control method for the surgical robot, in the step of "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the movement of the instrument device based on one or more of the hand data": whether to establish the mapping between the operation of the master hand control device and the movement of the instrument device is determined based on M2 pieces of hand data; whether to de-establish the mapping between the operation of the master hand control device and the movement of the instrument device is determined based on N2 pieces of hand data; wherein, M2≥N2.

[0030] This configuration allows for the use of differentiated judgment mechanisms to ensure the safety and reliability of the surgical robot.

[0031] In a second aspect, this application provides a computer-readable storage medium including a memory adapted to store a plurality of program codes adapted to be loaded and executed by a processor to perform the aforementioned control method for a surgical robot.

[0032] It is understood that the computer-readable storage medium has all the technical effects of the aforementioned control method for the surgical robot, which will not be elaborated here.

[0033] In a third aspect, this application provides a computer device including a memory and a processor, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to perform the aforementioned control method for the surgical robot.

[0034] It is understandable that this device possesses all the technical effects of the aforementioned surgical robot control method, which will not be elaborated upon here. Attached Figure Description

[0035] The preferred embodiments of this application will now be described with reference to the accompanying drawings, in which:

[0036] Figure 1 This illustration shows the state of the operating end in the master hand control device of a surgical robot according to an embodiment of this application. Figure 1In this state, the buttons on the control panel are at the top and the yaw is 0°.

[0037] Figure 2 for Figure 1 A frontal view diagram, which more clearly shows the composition of the operating terminal;

[0038] Figure 3 This illustration shows the state of the operating end in the master hand control device of a surgical robot according to an embodiment of this application. Figure 2 In this state, the buttons on the control panel are on top and veered to the right at a certain angle;

[0039] Figure 4 This illustration shows the state of the operating end in the master hand control device of a surgical robot according to an embodiment of this application. Figure 3 In this state, the buttons on the control panel are on top and tilted to the left at a certain angle;

[0040] Figure 5 This illustration shows the state of the operating end in the master hand control device of a surgical robot according to an embodiment of this application. Figure 4 In this state, the clamp on the operating end is on top and yawed at 0°;

[0041] Figure 6 This diagram illustrates the installation of a first detection component according to an embodiment of this application.

[0042] Figure 7 A flowchart illustrating a control method for a surgical robot according to an embodiment of this application is shown.

[0043] Figure 8 This diagram illustrates a process for determining whether to establish or de-establish a mapping between the doctor's operation on the main hand control device and the actions of the instrument end of the surgical robot in the control method of the first embodiment of this application.

[0044] Figure 9 This invention illustrates a schematic diagram of the construction principle of intermediate data in the control method of a surgical robot according to a first embodiment of the present application; and

[0045] Figure 10 This diagram illustrates a flowchart of a surgical robot control method according to a second embodiment of this application, showing the process of determining whether to establish or de-establish a mapping between the doctor's operation on the master control device and the actions of the instrument end of the instrument device.

[0046] List of reference numerals in the attached diagram:

[0047] 100. Master control device; 1. First link; 11. Lateral portion; 12. Longitudinal portion; 1201. Mounting area; 121. First mounting hole; 122. Second mounting hole; 2. Second link; 21. Pivoting side; 22. Mounting side; 3. Operating end; 31. First part; 311. Clamp; 312. Button; 32. Second part; 33. Connecting area; 331. First connecting section; 332. Second connecting section; 34. Grip; 41. First detection component (a); 411. First signal radiation area; 42. First detection component (b); 421. Second signal radiation area; 5. Processing unit; 51. Flexible circuit board; 200. Operator. Detailed Implementation

[0048] Preferred embodiments of this application are described below with reference to examples in the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application.

[0049] It should be noted that in the description of this application, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented even without certain specific details. In some instances, the principles of surgical robots, which are well-known to those skilled in the art, have not been described in detail in order to highlight the main points of this application.

[0052] The following will refer to Figures 1 to 10 The present application is described in accordance with at least a portion of the accompanying drawings. The reference to / primarily to one or more drawings in the embodiments does not mean that reference is limited to only one or a few drawings, but may also refer to both simultaneously. Figures 1 to 10Any figure other than one or more figures.

[0053] Surgical robots typically consist of a master control unit and an instrument unit. The surgeon or other operator can control the master control unit's end effector. The instrument unit's instrument end has an end effector that can directly act on the patient. Based on this setup, by accurately "translating" the surgeon's actions at the end effector into real-time movements, surgical procedures such as cutting and suturing can be performed on the patient.

[0054] Main reference Figures 1 to 5 In one possible implementation, the master control device 100 includes a first link 1, a second link 2, and an operating end 3. The first link 1 is generally L-shaped and includes a transverse portion 11 and a longitudinal portion 12. A first detection component of the detection unit is mounted on the longitudinal portion 12. In some cases, a drive transmission mechanism, such as a motor assembly, related to the yaw degree of freedom of the operating end 3 is mounted on the transverse portion 11. The second link 2 is pivotally mounted (rotatably mounted) on the transverse portion 11, thus causing a significant change in the relative position between the operating end 3 and the transverse portion 11. In this example, the second link 2 is also generally L-shaped. The transverse portion of the second link 2 is referred to as the pivot side 21, and the longitudinal portion as the mounting side 22. The pivot side 21 is stacked on top of the transverse portion 11 of the first link 1 and pivotally connected in the horizontal plane (allowing relative rotation about a vertical axis). Figure 1 as well as Figure 2 , Figure 3 and Figure 4 The diagram illustrates three states in which the second link 2 rotates relative to the first link 1, such as allowing the second link 2 to rotate within a certain range relative to the first link 1 (yaw). The operating end 3 is located on the mounting side 22, which typically also houses multiple drive transmission mechanisms related to rotation and movement. For example, the first link mainly houses structures / components / mechanisms related to the yaw degree of freedom of the operating end, while the second link houses structures / components / mechanisms related to the rotation of the operating end itself and the clamping degree of freedom. These typically include multiple drive transmission components (such as motor components). The second link can rotate a certain amount relative to the first link in the horizontal plane to achieve the yaw motion of the operating end.

[0055] In one possible implementation, the operating end 3 includes a first part 31, a second part 32, and a connecting area 33 between them. The first part 31 is located on the mounting side 22 of the second link 2, and the second part 32 is close to the operator 200, such as a doctor, and is typically part of the grip part 34. For example, taking the grip part 34 as a handle, the first part 31 is provided with fingertip pressing structures such as a clamp 311 and a button 312. When the operator grips the handle, two fingers are placed in positions corresponding to the clamp 311 and the button 312, respectively. When the operator grips the handle, the ring finger is placed in the position corresponding to the clamp 311, and the index finger is placed in the position corresponding to the button 312. By pushing the button 312 along the axial direction of the first part 31 with the index finger, a master-slave mapping can be established or broken. For example, sliding the button backward (towards the operator) breaks the master-slave mapping; after releasing the button, sliding it forward allows the master-slave mapping to be established under other conditions. The first part 31 is roughly a columnar structure, and the connecting area 33 roughly includes two connecting segments, referred to as the first connecting segment 331 and the second connecting segment 332. The first connecting segment 331 is the part of the handle near the first part 31, and the second connecting segment 332 is the part between the handle and the first part 31. The second connecting segment 332 can be a ring-shaped segment, and the generatrix of the ring-shaped segment can be a straight line (a shorter columnar segment, whose diameter is usually less than or equal to that of the first part 31), or a structure with indentations at both ends in the middle (such as an arc, a broken line, etc.), or other forms of curves. As in this example, according to... Figure 1 As shown, the left-hand portion of the handle 34 constitutes the second part 32 of the operating end 3. In this example, the structure of the second part 32 is approximately part of a spherical structure. (Refer to...) Figure 2 The right-hand portion of the handle 34 forms the first connecting segment 331 of the connecting area 33. In this example, the first connecting segment 331 is approximately a spherical structure with a reduced diameter. In other words, one structural form where "a part of the grip forms the connecting area" is: the operator typically grips the handle or other gripping parts on the left side, and the right side of the handle (such as a curved portion) can form the connecting area. The generatrix of the first connecting segment 331 can be a straight line, a curve, a combination of straight lines, a combination of curves, or a combination of straight lines and curves.

[0056] During surgical robot operations, surgeons typically perform actions such as rotation (including rotation along the handle axis and rotation in the horizontal plane) in a relatively standard posture (e.g., holding the handle with two fingers on the clamps and buttons). These actions are then translated into movements of the surgical device in real time, allowing the surgeon to operate on the patient. If the posture is not standard or the surgeon's hand is removed from the operating device, the translation process must be interrupted to prevent accidental contact with the device and potential injury to the patient, thus ensuring the safety of the surgical robot during surgery. By establishing a mapping between the surgeon's actions on the main control device and the movements the device can perform on the patient's body, the surgeon's actions can be translated into movements of the device in real time. Conversely, by decoupling the mapping between the surgeon's actions on the main control device and the movements the device can perform on the patient's body, the device will not perform movements based on the surgeon's actions. In response to this, this application uses a first detection component to detect the operator's hand data, and analyzes the hand data by the control unit (such as a processor) to determine whether to establish or de-establish a mapping between the doctor's operation of the main hand control device and the actions that the instrument device can perform on the patient's body.

[0057] In one possible implementation, the first detection component includes at least one first detection element disposed on the longitudinal portion 12 of the first link 1. This first detection element can be any component capable of effectively capturing the operator's hand data, such as a photoelectric / infrared sensor or an image / video acquisition component. Referring to the aforementioned hand posture of a doctor operating the handle, it can be seen that hand data is detected near the connection area when the doctor is operating. In this application, firstly, the connection area 33 is a recessed area located between the clamp and the second portion 32. When the operator's hand, such as that of a doctor, holds the operating end in the correct grip, the operating end can rotate along its own axis at any angle corresponding to the current operation. The signal radiation area of ​​the first detection element (passing near the connection area) can pass through a certain part of the hand holding the handle, thus ensuring the detection of the operator's hand data. Secondly, during the rotation (swinging) of the operating end within a certain angle range in the horizontal plane, since the first detection element is disposed on the longitudinal portion, the signal radiation area of ​​the first detection element (passing near the connection area) can also pass through a certain part of the hand holding the handle. Therefore, the swinging of the operating end will not affect the accuracy of the detection result. Thirdly, compared to the second link, the number of drive transmission mechanisms installed on the first link (such as the longitudinal part) is less, and the size of the first link itself is also larger than that of the second link. Therefore, sufficient space can be reserved for the installation of the first detection component, and the structure already installed on the first link will not interfere with the accuracy of the detection results.

[0058] In this example, the first detection component includes two (denoted as first detection component (a) 41 and first detection component (b) 42, respectively). The first detection components (a, b) are arranged along the height direction and are approximately symmetrically arranged on the longitudinal portion 12 of the first connecting rod 1 at positions corresponding to the upper and lower sides of the connecting area 33. In this way, the accuracy of the detection can be guaranteed by combining the two detection results. Obviously, those skilled in the art can flexibly select the structural form, detection principle, number, and arrangement of the first detection components in the longitudinal portion according to actual needs. For example, only one first detection component can be set, or the first detection component (a) can be changed into a group of first detection components (a), etc.

[0059] Understandably, to ensure the reliability of the detection, the signal radiation areas of the first detection components (a, b) (e.g., referred to as the first signal radiation area 411 and the second signal radiation area 421, respectively; exemplarily, both signal radiation areas are approximately conical) should not overlap with the connecting area 33 (e.g., in any state where the operating end is within the yaw range, there should be no overlap between the signal radiation areas and the connecting area). For example, to ensure the reliability of the detection, there should typically be a gap of at least 1-3 mm between the signal radiation area of ​​the first detection components (a, b) at its closest radial distance to the connecting area 33 and the contour surface of the connecting area 33.

[0060] It should be noted that the signal radiation areas (411, 421) mentioned here should be understood as the detection range of the first detection components (a, b). It should be understood that the detection range shown in the figure is only a general trend, not a fixed, closed outline range. The conical area can be flexibly scaled along its axis according to the actual situation.

[0061] Main reference Figure 1 and Figure 6In one possible implementation, a mounting area 1201 is reserved on the longitudinal portion 12 of the first connecting rod 1. Two mounting holes (e.g., referred to as the first mounting hole 121 and the second mounting hole 122) are provided at positions corresponding to the mounting area 1201. The first detection components (a, b) can be respectively disposed in the (first, second) mounting holes. Furthermore, to ensure the accuracy of detection, there is no overlap between the outline (outer edge of the hole wall) of the (first, second) mounting holes and the signal radiation area of ​​the first detection components (a, b). Therefore, the (first, second) mounting holes mentioned here should be broadly understood as mounting structures for mounting the first sensing components, such as round holes, square holes, holes with an open area in the circumference (e.g., half holes), etc. Obviously, mounting the first detection components (a, b) to the (first, second) mounting holes is only an exemplary description. Those skilled in the art can determine the number of mounting holes, the structural form, and the arrangement of the mounting holes in the mounting area according to actual needs. Multiple mounting holes can be configured for the first detection components (a, b) respectively, so that the mounting position of the first detection components (a, b) can be flexibly adjusted according to the characteristics of the connection area of ​​the operating end.

[0062] In one possible implementation, for the statement that "the mounting area includes multiple mounting positions, and at least one of the two first detection components can be disposed on at least two of the multiple mounting positions; or at least one of the two first detection components can be movably disposed on the mounting position," taking the first detection component as a sensor and the mounting positions as three (e.g., the two sensors are denoted as S1 and S2, and the three mounting positions are denoted as P1 to P3), the above-mentioned "at least one of the two first detection components can be disposed on at least two of the multiple mounting positions" includes the following situations:

[0063] Scenario 1: The position of S1 is fixed (P1), and the position of S2 is selectable (P2 or P3). In this case, the aforementioned limitation can be described as follows: one of the two first detection components can be disposed on at least two of the plurality of mounting positions;

[0064] Scenario 2: The positions of S1 and S2 are both selectable, but the selection range is limited. For example, S1 can be selected from P1 and P2, and S2 can be selected from P2 and P3. In this case, the aforementioned limitation can be described as follows: the two first detection components can be disposed on two of the plurality of mounting positions.

[0065] Scenario 3: The positions of S1 and S2 are both selectable and can be chosen arbitrarily. In this case, the aforementioned limitation can be described as follows: the two first detection components can be disposed on any two of the plurality of mounting positions.

[0066] Typically, the longitudinal portion 12 is provided with a light-transmitting plate (such as a glass cover) at the position corresponding to the (first, second) mounting holes to ensure the cleanliness of the first detection components (a, b) without affecting signal detection. For example, the glass cover is approximately flush with the surface of the longitudinal portion 12 to ensure the flatness of the device and to effectively prevent foreign objects in the environment from entering the installation environment of the first detection components (a, b) through gaps.

[0067] In one possible implementation, a processing unit 5 connected to the first detection components (a, b) is also provided on the longitudinal portion 12. For example, the processing unit 5 can process the detection results of the first detection components (a, b) and then send them to the central control unit of the surgical robot for further processing. In this example, the surgical robot includes a flexible circuit board (with good electromagnetic shielding performance). The flexible circuit board 51 is arranged approximately along the outer edge of the longitudinal portion 12, and the flexible circuit board 51 and the processing unit 5 roughly form a ring structure (the flexible circuit board 51 is approximately a ring structure with an open area at the bottom). The first detection components (a, b) are both disposed on the flexible circuit board 51. Obviously, the structure, location, and specific data processing method / degree of the processing unit can be flexibly configured according to actual needs. For example, the processing unit can be located close to the first detection components (a, b) on the longitudinal portion (below the first detection components (a, b)).

[0068] Although not shown in the figure, in one possible implementation, the detection unit may further include a second detection component. This second detection component can verify / correct the detection results of the first detection component or serve as auxiliary reference data. In some or all cases, the reliability of the judgment mechanism can be ensured by incorporating the detection results of the second detection component into the determination mechanism for establishing / demapping. For example, the second detection component could be a camera within the installation area of ​​the main hand control device of the surgical robot. In situations where the operator intentionally blocks the mounting hole or uses unusual / extreme / special grip postures, the detection results of the second detection component can be used to correct the detection results of the first detection component.

[0069] Obviously, the camera configured within the space area where the main hand control device is located is only an exemplary description of the second detection component. Those skilled in the art can determine the structural form, number, type, and placement of the second detection component according to actual needs. Specifically, the second detection component may include one or more second detection parts, which can be existing structures on the surgical robot or within the space area where the surgical robot is located, or structures specifically added at reasonable locations. Furthermore, those skilled in the art can determine the structural form, detection principle, and placement of the second detection parts according to actual needs. For example, it could also be a sensor (such as a photoelectric sensor) mounted on the lateral part / second link, or a touch sensor (such as a touch sensor) mounted on the grip. Exemplarily, in addition to the camera, the second detection component also includes a photoelectric sensor mounted on the lateral part.

[0070] Based on the above structure, this application provides a control method for a surgical robot, which is mainly used to determine whether to establish / de-establish the mapping between the doctor's operation of the main hand control device and the actions that the instrument device can perform on the patient's body by using hand data from the connection area detected by the detection unit, so as to ensure the safety and reliability of the surgical robot.

[0071] Main reference Figure 7 In one possible implementation, the control method for the surgical robot mainly includes the following steps:

[0072] S710. Based at least on the detection results near the connection area detected by the first detection component, determine the hand data corresponding to the operating end:

[0073] S720. Based on hand data, determine whether to establish or de-establish a mapping between the doctor's operation on the master hand control device and the movement of the instrument end of the device.

[0074] When a doctor or other operator holds the surgical device, hand data is detected at the corresponding position on the device. Based on this detection, the relative positional relationship between the doctor's hand and the surgical device can be determined. With the relative position accurately determined, the mapping between the operation of the main hand control device and the movement of the surgical instruments can be established or de-mapped in a timely manner, thereby ensuring the safety and reliability of the surgical robot.

[0075] It should be noted that the detection results near the connection area should be understood as: data in the region outside the outline of the connection area (no structure of the operating end corresponding to the connection area will be detected) but close to the outline of the connection area. This region is a spatial volume, and detectable hand data will appear in this region when the operator holds the operating end in the correct posture and operates the operating end within the allowed space.

[0076] It should be noted that the mapping between the operation of the master hand control device and the action of the instrument device should be understood as the operation of the doctor or other operator on the operating end of the master hand control device being "translated" into the action of the instrument device. If the mapping is established, the action can be applied to the patient's body synchronously.

[0077] When the operator holds the handle, the first detection components (a, b) will detect hand data near the connection area. This hand data can then be analyzed. If the analysis indicates a standard grip, a mapping between the operation of the master hand control device and the movement of the instrument can be established, thus translating the operator's actions into real-time movements applied directly to the patient's body by the instrument. If the analysis indicates a non-standard grip, a release from the hand, or other abnormal conditions, the mapping between the operation of the master hand control device and the movement of the instrument should be promptly terminated to ensure the safety of the surgical robot.

[0078] To ensure that unpredictable abnormal actions (that are beyond the range that the first detection component can detect correctly) are detected, data from cameras located in the area where the main hand control device is located can be used as reference data. In this way, the judgment result based on the current hand data can be determined by comprehensively analyzing the detection results of the first and second detection components.

[0079] Regarding hand data, it's important to note that since hand data pertains to the physical characteristics of natural persons, and considering the differences in body structure, grip habits, and operating habits among individuals, as well as the inherent randomness of individual physical characteristics, even if there are variations in the data, these variations will not affect operation. Therefore, on one hand, it's necessary to define a standard range for hand data. For example, based on analysis, a reasonable interval can be provided. If the detected hand data falls within this interval, the current hand data can be considered as hand data under standard grip conditions. Since the installation positions of the first detection components (a, b) are significantly different, the thresholds corresponding to the first detection components (a, b) are also relatively independent data. Furthermore, since the left and right hands each have their own operating terminals, independent thresholds need to be set for the first detection components (a, b) of the left and right hands respectively. On the other hand, it's usually necessary to provide a judgment result based on multiple hand data points. For example, a judgment result can be given based on a fixed number of consecutive hand data points detected in chronological order, or based on all hand data detected within a preset time window. Furthermore, when there are two or more first detection components, the hand data collected by each first detection component is judged separately. When the judgment result given by at least one first detection component indicates that the hand exists, the mapping between the operation of the master hand control device and the action of the instrument device can be established. Conversely, when the judgment results given by all the first detection components indicate that the hand does not exist, the mapping between the operation of the master hand control device and the action of the instrument device is released.

[0080] In one possible implementation, since the directly detected hand data belongs to natural persons, its stability still has room for improvement in terms of consistency. Therefore, a judgment result can be given directly based on multiple hand data points, or intermediate data can be generated by performing calculations such as averaging, weighted averaging, data fitting, or assigning arbitrary f(x) to multiple hand data points. The judgment result based on the current hand data can be determined by analyzing the intermediate data after processing the original hand data. Obviously, those skilled in the art can determine the construction method of the intermediate data, the number of intermediate data points to be referenced, and how to determine the judgment result based on the current hand data according to actual needs.

[0081] Example 1

[0082] Main reference Figure 8 In this embodiment, the aforementioned "S720, determining whether to establish or de-establish the mapping between the doctor's operation on the main hand control device and the movement of the instrument end of the instrument device based on hand data" includes:

[0083] S801, Obtain one or more hand data;

[0084] S802. Determine intermediate data based on one or more hand data.

[0085] S803. Based on intermediate data, determine whether to establish or de-establish the mapping between the operation of the master control device and the action of the instrument device.

[0086] Specifically, in this embodiment, the determination of whether or not a mapping is established is made through the determined intermediate data.

[0087] Main reference Figure 9 In one specific implementation, K intermediate data points (e.g., B1-BK) can be constructed based on k hand data points (e.g., b1-bk) sequentially collected by a first detection component. The judgment result based on the current hand data is then determined using these K intermediate data points. The following explanation uses K=50 as an example. In this example, one intermediate data point can be constructed based on the 50 nearest hand data points detected sequentially. The method for constructing 50 consecutive intermediate data points is described in [reference needed]. Figure 9 .

[0088] For example, the principle of the original hand data acquired by the first detection component is as follows: the first detection component emits a pulse toward the location where the hand exists. After the emitted pulse is blocked by a stationary obstacle (such as a hand), it will be reflected back (the duration of this process can be recorded as the period for the first detection component to sample one data point, for example, 1ms). The larger the value of the reflected single pulse, the closer the obstacle is to the first detection component.

[0089] To ensure detection accuracy, as in this example, the first detection component includes two first detection parts, which are photoelectric sensors. The upper first detection part (a) detects the hand portion in the area above the handle, and the lower first detection part (b) detects the hand portion in the area below the handle. The hand data detected in both areas can more accurately represent the "whole picture" of the hand, and the judgment result of whether to establish a mapping based on the hand data from both areas is also more accurate. For example, during surgical operations, in some postures, only one first detection part (a or b) can detect the presence of the hand, while in other postures, both first detection parts (a, b) can detect the presence of the hand.

[0090] For example, if two thresholds, high and low, are set for the detection results of each first detection component (e.g., denoted as the first detection threshold (a, b) and the second detection threshold (a, b) respectively), taking the first detection component a as an example, if the detection result of the first detection component (a) is within the interval determined by the two thresholds (the detection result of the first detection component (a) ∈ [the first detection threshold (a), the second detection threshold (a)]), then it can be said that the current detection result of the first detection component (a) is valid data.

[0091] In other words, the valid data mentioned here refers to data that can be used as a basis for judging the operator's grip posture. For example, based on the current data, it can reflect whether the operator is not gripping, has an incorrect grip posture, or has a standard grip posture. For example, a detection value range that can be set to determine valid data can be established, and the special or extreme cases mentioned above should be clearly outside this range. For example, a percentage of valid data (such as a certain high value (such as 90%, 95%, 100%, etc.)) can be set within a preset time window, and a mapping can be established when the valid data is not less than the high value, or when multiple valid data exist consecutively.

[0092] See also Figure 9 For example, each intermediate data point is constructed as follows: the average of 50 consecutive raw hand data points collected nearby is used to obtain one intermediate data point. Specifically, starting from the 50th hand data point collected, complete intermediate data can be calculated based on the 50 nearest detected hand data points. Before this, assuming that the detected hand data points include j (0 < j < 50), (50-j) hand data points can be assigned values ​​according to a preset rule (such as assigning a value of 0) to construct the intermediate data for the early stage. For example, if j = 5, then b1-b45 = 0, and b46-b50 represent the 5 hand data points currently obtained.

[0093] If we denote the intermediate data in the aforementioned early stage as the completion-type construction data, for example, before the first detection component collects 50 hand data (in fact, the duration of the completion-type construction data is very short), taking j=5 as an example, the intermediate data at this time is constructed as follows: B=(0+0+...+0(45th)+b1+b2+b3+b4+b5) / 50.

[0094] The following explanation will be based on the example of 50 hand data points collected (e.g., the earliest sampled data is b1).

[0095] For example, the first intermediate data (complete construction intermediate data) is: B1 = (b1 + b2 + ... + b50) / 50, and a judgment is made on whether the first intermediate data B1 is valid data. Similar to the aforementioned judgment for each first detection component (a, b), two thresholds, high and low, are also set for the intermediate data (e.g., denoted as the first intermediate threshold and the second intermediate threshold, respectively). When the intermediate data determined at the current time is within the interval determined by the two thresholds, it can be considered that the current intermediate data is valid data. The method for determining whether B1 is valid data can be appropriately adjusted according to actual needs. Specifically, the upper and lower limits of the interval can be fine-tuned.

[0096] As the sampling time progresses, pulses continue to be emitted. If the 51st emitted pulse is denoted as b51, then the second set of original hand data is: b2-b51. Based on this, B2 = (b2+b3+...+b51) / 50, and it is determined whether the second intermediate data B2 is valid data.

[0097] For example, a mapping can be established when M1 consecutive intermediate data are valid data, and the mapping can be broken when N1 consecutive intermediate data are invalid data, based on time order.

[0098] For example, when determining whether to establish a mapping between the operation of the primary hand control device and the action of the instrument device, the mapping is determined based on whether M1 consecutive intermediate data (e.g., M1 = 50) are valid data or whether a certain proportion (e.g., 95%) of the valid data is obtained within a preset sampling time window (e.g., 50ms). In a specific example, the mapping between the operation of the primary hand control device and the action of the instrument device can only be established if at least 47 of the 50 consecutive intermediate data identified within 50ms are valid data. Thus, during the process of acquiring B1-B50 within each 50ms time window, an invalid count is performed for each invalid data identified. If the invalid count reaches 4 before B50 is acquired, the valid count can be cleared (interrupted), and a reminder message such as "Doctor's hand does not exist" can be given before proceeding to the next sampling time window. If the invalid count has not reached 4 by the time B50 is obtained, the valid and invalid counts should be cleared, a mapping between the operation of the master hand control device and the action of the instrument device should be established, and a reminder message such as "Doctor's hand is present" should be given at the same time.

[0099] In another specific embodiment, no preset sampling time window is set. Instead, each intermediate data point is evaluated for validity. When an intermediate data point is valid, the count of valid data points begins, and the count of invalid data points is cleared. This continues until M1 (e.g., M1 = 50) consecutive intermediate data points are valid. At this point, a mapping is established between the operation of the main hand control device and the movement of the instrument device, and a reminder message such as "Doctor's hand is present" is given. The count of valid data points is then cleared, and the next round of intermediate data evaluation begins. If, during the valid data counting process, before reaching 50 valid data points, an invalid data point is identified, the count of invalid data points begins, and the count of valid data points is cleared. This continues until N1 (e.g., N1 = 3) consecutive intermediate data points are invalid. At this point, the mapping between the operation of the main hand control device and the movement of the instrument device is broken, and a reminder message such as "Doctor's hand is not present" is given. The count of invalid data points is then cleared, and the next round of intermediate data evaluation begins. To ensure the reliability of the surgical robot entering and exiting surgical operations, M1 ≥ N1.

[0100] In the above example, when only one first detection component is configured on the operating terminal, only one validity check of intermediate data exists at any given time. When there are two or more first detection components on the operating terminal, the validity of the intermediate data of each first detection component needs to be checked simultaneously. If at least one piece of intermediate data is valid, the number of valid data is incremented by 1; if all intermediate data are invalid, the number of invalid data is incremented by 1 (or the number of valid data is cleared).

[0101] As can be seen, in this embodiment, the determination of whether the mapping between the operation of the master hand control device and the action of the instrument device is established is based on the validity of the determined intermediate data. That is, the data processing only focuses on the validity of the intermediate data B and does not judge the validity of the hand data b itself. This processing method can smooth out a certain abnormal hand data to a certain extent, making the judgment result more reliable and effective.

[0102] Example 2

[0103] Main reference Figure 10 In this embodiment, the aforementioned "S720, determining whether to establish or de-establish the mapping between the doctor's operation on the main hand control device and the movement of the instrument end of the instrument device based on hand data" includes:

[0104] S101. Obtain one or more hand data;

[0105] S102. Determine the validity of each hand data point;

[0106] S103. Based on the validity of one or more hand data, determine whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device.

[0107] Specifically, in this embodiment, the establishment of a mapping is determined directly by the hand data detected by the first detection component.

[0108] Taking the first detection component a as an example, if the detection result of the first detection component a is ∈ [first detection threshold (a), second detection threshold (a)], it means that the current detection result of the first detection component a is valid data.

[0109] For example, a mapping can be established if all M2 consecutively collected hand data points are valid, and the mapping can be broken if all N2 consecutively collected hand data points are invalid. In a specific example, N2 = 1.

[0110] For example, if three consecutively acquired hand data points (N2=3) are invalid during the detection process, the mapping between the operation of the master hand control device and the action of the instrument device can be deactivated. These three hand data points can be represented as "b". i-1 b i b i+1 ".

[0111] For example, during the detection process, if 5 out of 50 consecutive hand data points within a preset time window (e.g., 50ms) are invalid (non-continuous), the mapping between the operation of the master hand control device and the action of the instrument device can be removed.

[0112] In the process of acquiring b1-b50 within 50ms based on the sampling time, invalid data is counted for each invalid data identified. If all 5 hand data are invalid, the mapping between the operation of the main hand control device and the action of the instrument device is removed. Information such as "Doctor's hand does not exist" can also be given.

[0113] As can be seen, in this embodiment, the validity of the hand data collected by the first detection component is used to directly determine whether a mapping has been established between the operation of the main hand control device and the action of the instrument device. That is, the data processing only focuses on the validity of hand data b and does not construct intermediate data B. The judgment mechanism of this embodiment is relatively simple and has a fast response speed. However, in some cases, the safety of the surgical robot may be affected by a certain abnormal hand data.

[0114] In one possible implementation, based on hand data, a differentiated judgment mechanism is provided when determining whether to establish (currently not established) or dissolve (currently established) the mapping between the operation of the master hand control device and the movement of the instrument device. Specifically, when determining whether to establish the mapping between the operation of the master hand control device and the movement of the instrument device, a robust judgment mechanism is used to ensure the safety and reliability of the surgical procedure. When determining whether to dissolve the mapping between the operation of the master hand control device and the movement of the instrument device, a sensitive judgment mechanism is used to ensure that incorrect surgical procedures can be stopped in a timely manner.

[0115] For example, when determining whether to establish a mapping between the operation of the master hand control device and the action of the instrument device, in the constructed intermediate data or directly collected hand data (taking the aforementioned example of constructing intermediate data based on 50 consecutive hand data points), if the number of valid data points meets a certain proportion (e.g., in the 50 consecutively constructed intermediate data points, the number of valid data points should be ≥45; or in the 50 consecutively collected hand data points, the number of valid data points should be ≥49), then a mapping between the operation of the master hand control device and the action of the instrument device can be established. For example, if intermediate data B2 / B3 / B4 / B5 are all invalid data, a mapping can still be established; even if hand data b1, b2, and b3 are actually invalid data (although in Example 1, the validity of directly collected hand data is not judged), B1 constructed based on them is valid data, and a mapping can still be established.

[0116] For example, when determining whether to de-map the operation of the master hand control device and the action of the instrument device, if a number of consecutive invalid data points appear in the constructed intermediate data (e.g., not exceeding a certain low value (e.g., 5, for example, 2), the mapping between the operation of the master hand control device and the action of the instrument device is de-mapped. Alternatively, based on the hand data collected by the first detection component, if the number of invalid data points reaches a certain proportion (e.g., in 50 consecutive hand data points, the number of invalid data points should be ≥ 5), the mapping between the operation of the master hand control device and the action of the instrument device can be de-mapped.

[0117] Obviously, the above-mentioned methods for constructing intermediate data, determining the validity of hand data / intermediate data, and differentiating judgment mechanisms are merely illustrative descriptions. Those skilled in the art can flexibly adjust them according to actual needs. For example, intermediate data can be determined according to other fitting methods, and the judgment mechanism of "the number of valid data in 50 consecutively collected hand data should be ≥49" can be replaced with "in 50 consecutively collected hand data, two consecutive hand data are not allowed to be invalid data and the number of invalid data is ≤5", etc.

[0118] As can be seen, in the preferred embodiment of this application, by placing the first detection component on the longitudinal portion of the first link, it is possible to ensure that the operator's hand data collected by the first detection component is as unaffected as possible by the structure of the components in the master hand control device and the movement of the operating end. By introducing the detection results of the second detection component, misjudgments caused by extreme operations can be effectively avoided. By differentiating the mapping between establishing and de-establishing the operation of the master hand control device and the movement of the instrument device, the judgment mechanism based on hand data can better serve the surgical robot.

[0119] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that, in order to achieve the effects of this application, different steps do not necessarily have to be executed in this order. They can be executed simultaneously or in other orders, and some steps can be added, replaced, or omitted. For example, reference data related to hand data collected by the second detection component can be introduced into the judgment logic.

[0120] It should be noted that although the grinding machine loading control method described above is presented as an example, those skilled in the art will understand that this application is not limited thereto. In fact, users can flexibly adjust the relevant steps and parameters according to actual application scenarios, such as adjusting the construction method of intermediate data and the judgment mechanism corresponding to the intermediate data.

[0121] In addition, this application also provides a computer-readable storage medium including a memory adapted to store a plurality of program codes adapted to be loaded and run by a processor to perform the aforementioned control method for the surgical robot.

[0122] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0123] Those skilled in the art will understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described herein can be implemented as electronic hardware, computer software, or a combination of both.

[0124] To demonstrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps have been generally described above according to their functionality. Whether such functionality is implemented in hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in varying ways for specific applications; however, such implementation decisions should not be construed as departing from the scope of this application.

[0125] Furthermore, this application also provides a computer device including a memory and a processor. The memory is adapted to store multiple lines of program code, which are adapted to be loaded and executed by the processor to perform the aforementioned control method for the surgical robot. This device can be a computer control device comprising various electronic devices.

[0126] The computer device may include a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for a surgical robot. The display unit is used to form a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device, etc. The display screen can be an LCD screen or an e-ink screen, etc. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs or touchpads set on the computer device casing, or external keyboards, touchpads or mice, etc.

[0127] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A control method for a surgical robot, characterized in that, The surgical robot includes a master control device (100) and an instrumentation device. The master hand control device (100) includes an operation end (3), which includes a first part (31) and a second part (32) close to the operator, and there is a connection area (33) between the first part (31) and the second part (32); The control method includes: Based at least on the detection results near the connection area, determine the hand data corresponding to the operating end: Based on the hand data, determine whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device.

2. The control method for the surgical robot according to claim 1, characterized in that, The operating end (3) includes a clamp (311), which is disposed in the first part (31), and the connecting area (33) is located between the clamp (311) and the second part (32).

3. The control method for the surgical robot according to claim 1, characterized in that, The operating end (3) includes a gripping part (34), at least a portion of which constitutes the second part (32), and the connecting area (33) is disposed between the gripping part (34) and the first part (31), or a portion of the gripping part (34) constitutes the connecting area (33).

4. The control method for the surgical robot according to claim 1, characterized in that, The master hand control device (100) includes: First link (1); and The second link (2) is disposed on the first link (1); The operating end (3) is disposed on the second link (2), and at least one drive transmission mechanism is also disposed on the second link (2); The master control device (100) is equipped with a detection unit, which includes: A first detection component is disposed on the first link (1); In the step of "determining hand data corresponding to the operating end based at least on the detection results of the connecting area", the detection results are the detection results obtained based on the first detection component.

5. The control method for the surgical robot according to claim 4, characterized in that, The first link (1) includes a transverse portion (11) and a longitudinal portion (12). The second link (2) is disposed in the transverse portion (11), and the first detection component is disposed in the longitudinal portion (12).

6. The control method for the surgical robot according to claim 5, characterized in that, The longitudinal portion (12) includes a mounting area (6), and the first detection component includes one or more first detection parts disposed in the mounting area (6). In cases where the first detection component comprises multiple components, in the step of "determining hand data corresponding to the operating end based at least on the detection result of the connecting area", the detection result is a detection result obtained based on at least one of the multiple first detection components.

7. The control method for the surgical robot according to claim 6, characterized in that, The first detection component includes two first detection parts (41, 42) disposed along the height direction in the installation area. The two signal radiation areas (411, 421) of the two first detection components (41, 42) do not overlap with the connecting area (33).

8. The control method for the surgical robot according to claim 7, characterized in that, in, The mounting area (6) includes multiple mounting positions, and at least one of the two first detection components (41, 42) can be disposed on at least two of the multiple mounting positions; or At least one of the two first detection components (41, 42) can be movably disposed at the mounting position.

9. The control method for the surgical robot according to claim 6, characterized in that, The first connecting rod (1) has a mounting hole at a position corresponding to the mounting area (6), and the first detection component can be disposed in the mounting hole. In the assembled state, there is no overlap between the outline of the mounting hole and the signal radiation area of ​​the first detection component.

10. The control method for the surgical robot according to claim 4, characterized in that, The detection unit includes: The second detection component is disposed in the space area where the main hand control device (100) is located. In the step of "determining hand data corresponding to the operating end based at least on the detection results of the connecting area", the detection results are the detection results obtained based on the first detection component and the second detection component.

11. The control method for the surgical robot according to claim 1, characterized in that, The phrase "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the hand data" includes: Acquire one or more of the hand data; Intermediate data are determined based on one or more of the stated hand data; Based on the intermediate data, determine whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device.

12. The control method for the surgical robot according to claim 11, characterized in that, The phrase "determining intermediate data based on one or more of the hand data" includes: Intermediate data is determined based on one or more of the hand data detected sequentially, using the detection time as the order.

13. The control method for the surgical robot according to claim 12, characterized in that, The phrase "determining intermediate data based on one or more of the detected hand data in sequence, according to the detection time" includes: Based on the detection time, select one or more of the nearest hand data, and determine an intermediate data based on them; Accordingly, the phrase "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the intermediate data" includes: Based on one or more of the intermediate data, determine whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device.

14. The control method for the surgical robot according to claim 13, characterized in that, The phrase "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on one or more of the intermediate data" includes: Determine whether each of the intermediate data is valid data; Based on the judgment result, determine whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device.

15. The control method for a surgical robot according to any one of claims 11 to 14, characterized in that, In the step of "determining intermediate data based on one or more hand data; determining whether to establish or de-establish a mapping between the operation of the master hand control device and the action of the instrument device based on the intermediate data": Whether to establish a mapping between the operation of the master hand control device and the action of the instrument device is determined based on the acquired M1 intermediate data; Whether to de-map the operation of the master hand control device to the action of the instrument device is determined based on the acquired N1 intermediate data. Where M1≥N1.

16. The control method for the surgical robot according to claim 1, characterized in that, The phrase "determining whether to establish or de-establish the mapping between the operation of the master hand control device and the action of the instrument device based on the hand data" includes: Acquire one or more of the hand data; Based on one or more of the hand data, determine whether to establish or de-establish a mapping between the operation of the master hand control device and the action of the instrument device.

17. The control method for the surgical robot according to claim 16, characterized in that, In the step of "determining whether to establish or de-establish a mapping between the operation of the master hand control device and the action of the instrument device based on one or more of the hand data": Whether to establish a mapping between the operation of the master hand control device and the action of the instrument device is determined based on the acquired M2 hand data; Whether to de-map the operation of the master hand control device to the movement of the instrument device is determined based on the acquired N2 hand data. Where M2≥N2.

18. A computer-readable storage medium comprising a memory adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the control method of the surgical robot according to any one of claims 1 to 17.

19. A computer device, the device comprising a memory and a processor, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the control method of the surgical robot described in any one of 1 to 17.

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