Robot system and control method

Abstract

The present disclosure relates to the medical instrument field and discloses a control method for a robot system, the robot system having a plurality of movement arms including first and second movement arms, the control method including: determining a movement strategy for the distal ends of the first and second movement arms of the robot system, the movement strategy including overall movement of the distal ends of the first and second movement arms; determining a movement path for the first and second movement arms based on the movement strategy and a relative position and orientation relationship between the distal ends of the first and second movement arms; and controlling the movement of the first and second movement arms based on the corresponding movement path so that the distal ends of the first and second movement arms move according to the movement strategy while maintaining a constant relative position and orientation relationship between the distal ends during movement. The distal ends of the plurality of movement arms can be moved overall while maintaining a constant relative position and orientation relationship between each other during movement, thereby enabling rapid and accurate movement of the plurality of movement arms.

Description

Technical Field

[0001] <Cross-reference to Related Applications> This application claims priority to a Chinese patent application filed on August 19, 2020, with application number 202010838021.6 and invention title "Control Method for Medical Equipment, Medical Equipment Control System, and Storage Medium", and a Chinese patent application filed on August 19, 2020, with application number 2020108372328 and invention title "Control Method for Medical Equipment, Medical Equipment Control System, and Storage Medium", the entire texts of these applications are incorporated herein by reference.

[0002] The present disclosure relates to the field of robots, and particularly to robot systems and control methods.

Background Art

[0003] Laparoscopic surgery is a widely used surgical form and has advantages such as small incisions. In recent years, surgical robots have realized surgical operations with higher stability and accuracy using robotic arms. During surgery, the robotic arm feeds a surgical tool into the surgical site inside the body (e.g., a human or an animal) via a trocar and performs a surgical operation.

[0004] Currently, surgical procedures performed using surgical robots primarily involve preoperative positioning, intraoperative manipulation, and postoperative cleanup. Preoperatively, a surgical assistant (e.g., an assistant physician or nurse) typically adjusts the motor arm to the appropriate position and orientation according to the type of surgery and surgical position, securely connects the motor arm to a stamp card, and then places the surgical tool at the end of the motor arm so that the tool enters the body via the stamp card. The movement of the motor arm may be manually adjusted by the surgical assistant from its distal end (i.e., the end closest to the patient), or controlled by the surgical assistant or physician by operating a control device at the proximal end of the motor arm (i.e., the control end closest to the physician). However, because motor arms can be bulky and heavy, there are stability issues and a risk of collision, especially in single-port surgery. Therefore, adjusting the motor arm is complex and time-consuming. Similarly, the same problems exist in adjusting the motor arm during and after surgery. [Overview of the project]

[0005] In some embodiments, the Disclosure provides a control method for a robot system comprising a plurality of motion arms, including first and second motion arms, wherein the control method includes: identifying a motion scheme including the overall motion of the first end of the first motion arm and the second end of the second motion arm of the robot system; identifying a first motion path of the first motion arm and a second motion path of the second motion arm based on the motion scheme and the end-to-end relative position-orientation relationship between the first end of the first motion arm and the second end of the second motion arm; and controlling the motion of the first and second motion arms based on the first and second motion paths such that the first end of the first motion arm and the second end of the second motion arm move in the motion scheme and maintain the end-to-end relative position-orientation relationship constant during motion.

[0006] In some embodiments, the Disclosure provides a robot system comprising a plurality of motion arms, including first and second motion arms, and a control device, wherein the control device identifies a motion scheme including the overall motion of the first end of the first motion arm and the second end of the second motion arm of the robot system, identifies a first motion path of the first motion arm and a second motion path of the second motion arm based on the motion scheme and the end-to-end relative position-orientation relationship between the first end of the first motion arm and the second end of the second motion arm, and controls the motion of the first and second motion arms based on the first and second motion paths such that the first end of the first motion arm and the second end of the second motion arm move in the motion scheme and maintain the end-to-end relative position-orientation relationship constant during motion.

[0007] In some embodiments, the Disclosure provides a computer-readable storage medium comprising one or more instructions executed by a processor to perform a control method for a robotic system, the robotic system comprising a plurality of motion arms, including first and second motion arms, the control method comprising: identifying a motion scheme including the overall motion of the first end of the first motion arm and the second end of the second motion arm of the robotic system; identifying a first motion path of the first motion arm and a second motion path of the second motion arm based on the motion scheme and the end-to-end relative position-orientation relationship between the first end of the first motion arm and the second end of the second motion arm; and controlling the motion of the first and second motion arms based on the first and second motion paths such that the first end of the first motion arm and the second end of the second motion arm move in the motion scheme and maintain the end-to-end relative position-orientation relationship constant during motion. [Brief explanation of the drawing]

[0008] To more clearly explain the technical concepts in the embodiments of this disclosure, the drawings required for describing the embodiments of this disclosure will be briefly described below. However, the drawings described below only show a few embodiments of this disclosure, and those skilled in the art can obtain other embodiments based on the content of the embodiments of this disclosure and these drawings without any creative work. [Figure 1] The following are block diagrams of the configuration of robot systems according to some embodiments of this disclosure. [Figure 2] The following are schematic diagrams of the three-dimensional configuration of robot systems according to some embodiments of this disclosure. [Figure 3] The following are schematic diagrams showing the configuration of the moving arm of a robot system according to some embodiments of this disclosure. [Figure 4] The following are partial cross-sectional views of auxiliary connection devices according to some embodiments of the present disclosure. [Figure 5] A flowchart of a control method for a robot system according to some embodiments of this disclosure is shown. [Figure 6] The following are other configuration block diagrams of robot systems according to some embodiments of this disclosure. [Figure 7] A flowchart shows a method for identifying the motion path of a moving arm according to some embodiments of this disclosure. [Figure 8] A flowchart shows a method for determining the target position and orientation of a moving arm according to some embodiments of this disclosure. [Figure 9] A flowchart shows a method for controlling the motion path of a moving arm according to some embodiments of this disclosure. [Figure 10] A flowchart shows a method for determining the joint stride length of each joint included in a moving arm according to some embodiments of the present disclosure. [Figure 11] The following are schematic diagrams of the architecture of control devices according to some embodiments of this disclosure. [Modes for carrying out the invention]

[0009] In order to further clarify the technical problems solved, the adopted technical solutions, and the technical effects achieved by this disclosure, the technical solutions in the embodiments of this disclosure will be described in more detail below, along with the attached drawings. However, the embodiments described are, of course, only illustrative embodiments of this disclosure and do not represent the entirety of the embodiments.

[0010] In this disclosure, the orientations or positional relationships indicated by the terms “center,” “up,” “down,” “left,” “right,” “vertical,” “horizontal,” “inside,” and “outside” are based on the orientations or positional relationships shown in the drawings and are intended solely to facilitate and simplify the explanation of this disclosure. They do not indicate or imply that the device or element being referred to must have a specific orientation or be constructed or operated in a specific orientation, and therefore should not be understood as limitations on this disclosure. Furthermore, the terms “first” and “second” are used solely for explanatory purposes and should not be understood as indicating or implying relative importance. In this disclosure, unless explicitly stated and limited, the terms “attachment,” “connection,” “joining,” and “joining” should be interpreted broadly, for example, including fixed connections, removable connections, mechanical connections, electrical connections, direct connections, indirect connections via an intermediate medium, and internal communication between two elements. A person skilled in the art will understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. In this disclosure, in a surgical robot system, the end closest to the user (e.g., a physician) is defined as the proximal end, proximal portion, or posterior end, or posterior portion, and the end closest to the patient undergoing surgery is defined as the distal end, distal portion, or anterior end, or anterior portion. Those skilled in the art will understand that embodiments of this disclosure may be used in medical equipment or surgical robots, or in other non-medical devices.

[0011] In this disclosure, the term “position” means the positioning of an object or part of an object in three-dimensional space (for example, three translational degrees of freedom, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, may be described using changes in the Cartesian X, Y, and Z coordinates). In this disclosure, the term “orientation” means the rotational setting of an object or part of an object (for example, three rotational degrees of freedom may be described using rolling, pitching, and yawing). In this disclosure, the term “position and orientation” means a combination of position and orientation of an object or part of an object, which may be described, for example, using six of the six degrees of freedom described above. In this disclosure, the position and orientation of a moving arm or part of an object refers to the position and orientation of the coordinate system defined by the moving arm or part of an object relative to the coordinate system defined by the bracket, base, or world coordinate system on which the moving arm is located. In this disclosure, the position of a moving arm or part of an object can be represented by a set of joint values ​​for multiple joints of the moving arm (for example, a one-dimensional matrix consisting of these joint values). In this disclosure, the joint value of a joint may include the rotational angle of the corresponding joint with respect to the corresponding joint axis or the displacement distance with respect to the initial position. In this disclosure, the motion path of a moving arm refers to the path by which the moving arm moves from one position or orientation to another.

[0012] Figure 1 shows a block diagram of the configuration of a robot system 10 according to some embodiments of the present disclosure. As shown in Figure 1, the robot system 10 may include a control device 11 and a plurality of motion arms connected to the control device 11. In some embodiments, as shown in Figure 1, the plurality of motion arms may include first and second motion arms 12a and 12b. The control device 11 is used to control the first and second motion arms 12a and 12b. For example, the control device 11 can adjust the motion, position and orientation, and coordination between the first motion arm 12a and the second motion arm 12b. In some embodiments, the first and second motion arms 12a and 12b may include a first end arm 128a and a second end arm 128b at their terminal or distal ends, respectively. The control device 11 can control the motion of the first motion arm 12a or the second motion arm 12b so as to move the first end arm 128a or the second end arm 128b to a desired position and orientation.

[0013] For the sake of brevity, this disclosure shows an exemplary robotic system 10 having two motion arms in Figure 1 and subsequent drawings. However, those skilled in the art will understand that the robotic system 10 may have three, four or more motion arms. The robotic system 10 may also include a surgical robotic system, such as a laparoscopic surgery robotic system. It should be understood that the robotic system 10 may also include a robotic system dedicated or general-purpose in other fields (e.g., manufacturing, machinery, etc.).

[0014] Figure 2 shows a schematic diagram of the three-dimensional configuration of a robot system 10 according to some embodiments of the present disclosure. As shown in Figure 2, the robot system 10 is a surgical robot system and may comprise a surgical trolley 13 and first and second motion arms 12a and 12b provided on the surgical trolley 13. In some embodiments, the surgical trolley 13 may comprise a base 131 and a crossbeam 132. In some embodiments, the first and second motion arms 12a and 12b may be movably mounted on the crossbeam 132. It should be understood that the multiple motion arms of the robot system 10 may be provided on multiple surgical trolleys, for example, each motion arm may be provided correspondingly on one surgical trolley. Alternatively, one motion arm may be provided on one surgical trolley, and the remaining multiple motion arms may be provided on other surgical trolleys. All of these embodiments fall within the scope of protection of the present disclosure.

[0015] In some embodiments, each moving arm of the robot system 10 (for example, the first and second moving arms 12a and 12b) may have multiple links and multiple joints. In some embodiments, each joint of each moving arm may have an electric motor that drives the corresponding joint to move and the corresponding link to rotate.

[0016] Figure 3 shows a schematic diagram of the configuration of a moving arm of a robot system 10 according to some embodiments of the present disclosure. As shown in Figure 3, the second moving arm 12b (or the first moving arm 12a) may include joints 1201b to 1208b and links 121b to 128b. The proximal end of link 121b (in this disclosure, the end adjacent to the crossbeam 132 is defined as the proximal end of the moving arm) is connected to the crossbeam 132, and links 121b to 127b are connected in series in order. Here, joint 1201b may be located at the connection point between the crossbeam 132 and the proximal end of link 121b, joint 1202b may be located at the connection point between link 121b and the second link 122b, joint 1203b may be located at the connection point between link 122b and link 123b, joint 1204b may be located at the connection point between link 123b and link 124b, joint 1205b may be located at the connection point between link 124b and link 125b, joint 1206b may be located at the connection point between link 125b and link 126b, joint 1207b may be located at the connection point between link 126b and link 127b, and joint 1208b may be located at the connection point between link 127b and link 128b. Link 128b, as the furthest link of the second movable arm 12b, forms the second distal arm 128b of the second movable arm 12b. The position and orientation of the distal arm must be specified and described together with each of the aforementioned joints. It should be understood that links 126b, 127b, and 128b together constitute the distal center of motion (RCM) mechanism of the second movable arm 12b.

[0017] In some embodiments, the robotic system 10 may include one or more surgical tools. As shown in FIG. 3, the surgical tool 14a is attached to the first distal arm 128a of the first motion arm 12a, and the surgical tool 14b is attached to the second distal arm 128b of the second motion arm 12b. It should be understood that the surgical tools 14a and 14b may include, but are not limited to, clamps for performing surgery, electric knives, or image capture devices (e.g., endoscope tools) for performing illumination imaging. A part of the surgical tools 14a and 14b (e.g., the arm body and the distal device provided at the distal end of the arm body) can enter a certain part of the human or animal body and perform medical operations such as surgery.

[0018] In some embodiments, as shown in FIG. 2, the robotic system 10 may further include an auxiliary connection device 15 such as a sheath cover. The auxiliary connection device 15 may be attached to the human or animal body (e.g., a notch or an opening), a part of it may be positioned at the part of the body where a human or animal needs to have surgery, and the other part is used to detachably connect to the motion arms (e.g., the first and second distal arms 128a, 128b of the first and second motion arms 12a, 12b) so as to function better for surgery.

[0019] FIG. 4 shows a partial cross-sectional view of the auxiliary connection device 15 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4, the auxiliary connection device 15 may include a sheath tube 151 and a sheath tube 152. In some embodiments, the auxiliary connection device 15 may include at least two connection parts (e.g., connection parts 153, 154). The connection parts may include, but are not limited to, clamps, fitting structures, adhesive structures, insertion and extraction structures, and adsorption structures. The connection parts 153, 154 may be fixedly provided on the sheath tubes 151, 152 respectively.

[0020] In some embodiments, each motion arm (e.g., the first and second motion arms 12a, 12b) may include a connecting member (e.g., the connecting members 1281a, 1281b shown in FIG. 2) that fits into a connecting portion (e.g., the connecting portions 153, 154). The auxiliary connecting device 15 is detachably and fixedly connected to the connecting members 1281a, 1281b of the first and second motion arms 12a, 12b by the connecting portions 153, 154, respectively. In some embodiments, as shown in FIG. 2, the connecting members 1281a, 1281b may be fixedly provided on the first end arm 128a and the second end arm 128b, respectively. The connecting members 1281a, 1281b are respectively connected to the connecting portions 153, 154 such that the auxiliary connecting device 15 is detachably and fixedly connected to the first and second motion arms 12a, 12b.

[0021] It should be understood that the spatial positions and orientation of the attitudes in the rotational coordinates of the first end arm 128a, the second end arm 128b, and the connecting members 1281a, 1281b may be represented by coordinate vectors. In some embodiments, based on the type of the ongoing surgery or the configuration of the auxiliary connecting device, for example, the configuration of the auxiliary connecting device may be specified based on the type of the ongoing surgery. Based on the configuration of the auxiliary connecting device, the shape and relative positional relationship between the plurality of sheath tubes of the auxiliary connecting device are specified so as to specify the relative position and attitude of the ends of the plurality of motion arms. It should be understood that the end of the motion arm may include the end arm of the motion arm, the distal motion center mechanism (RCM mechanism) of the motion arm, or the portion for connecting to the auxiliary connecting device in the motion arm. The position and attitude of the end of the motion arm may include the position and attitude of the end arm of the motion arm, the position and attitude of the distal motion center mechanism (RCM mechanism) of the motion arm, or the position and attitude of the portion for connecting to the auxiliary connecting device in the motion arm.

[0022] For example, the terminal relative positional relationship of the first and second movable arms 12a and 12b may be determined based on the shape and relative positional relationship of the sheath tubes 151 and 152. The terminal relative positional relationship between the first movable arm 12a and the second movable arm 12b can indicate the positional and orientation relationship of the end of the first movable arm 12a with respect to the end of the second movable arm 12b in a world spatial coordinate system. It should be understood that the terminal relative positional relationship may include, for example, the relative positional relationship formed between the first end arm 128a of the first movable arm 12a and the second end arm 128b of the second movable arm 12b. Alternatively, the terminal relative positional relationship may include the relative positional relationship formed between the surgical tool 14a and the surgical tool 14b attached to the first end arm 128a and the second end arm 128b. Alternatively, the end relative position and attitude relationship may include the relative position and attitude relationship formed between the connecting member 1281a and the connecting member 1281b, which are fixedly provided on the first end arm 128a and the second end arm 128b. In some embodiments, the end relative position and attitude relationship may be stored in a related relative position and attitude model and used to calculate the target position and attitude of the end of the first or second moving arm 12a or the second moving arm 12b. Since the connecting members 1281a and 1281b are fixed to the first end arm 128a and the second end arm 128b, respectively, the connecting members 1281a and 1281b can be connected to the connecting parts 153 and 154 when the first end arm 128a and the second end arm 128b match the end relative position and attitude relationship.

[0023] It should be understood that by moving the first movable arm 12a to a target position, the target position in world coordinates of the surgical tool 14a attached to the end of the first movable arm 12a can be determined, and by moving the second movable arm 12b to a target position, the target position in world coordinates of the surgical tool 14b attached to the end of the second movable arm 12b can be determined. The position of a movable arm or part thereof can be achieved by joints. For example, in some embodiments, the target spatial position of a fixed part on each movable arm (e.g., the first and second end arms 128a, 128b, the connecting members 1281a, 1281b fixedly provided on the first and second movable arms 12a, 12b, and the surgical tools 14a, 14b attached to the first and second movable arms 12a, 12b) can be achieved by some of the joints of a plurality of joints included in the corresponding movable arm. The target spatial position of a fixed part on each movable arm can be achieved by some of the other joints of a plurality of joints included in the corresponding movable arm. In some embodiments, the ends of the movable arm (e.g., the first and second end arms 128a, 128b) have multiple joints for achieving the target spatial posture that are closer to the distal end of the movable arm than the multiple joints for achieving the target spatial position of the movable arm. It should be understood that the multiple joints for achieving the target spatial posture and target spatial position of the end of the movable arm may include other configurations, and specifically can be set according to the needs of use.

[0024] In some embodiments, after the surgical tools are attached to the end arms, the surgical tools 14a and 14b can smoothly pass through the sheath tubes 151 and 152 of the auxiliary connecting device 15 at predetermined angles, move along the sheath tubes 151 and 152, and enter the human body in the corresponding position and orientation required for surgery. In some embodiments, the sheath tubes 151 and 152 of the auxiliary connecting device 15 may be flexible, and the portion of the surgical tools 14a and 14b that extends and penetrates the auxiliary connecting device 15 may also be flexible, so that when the first end arm 128a and the second end arm 128b are in a near-perfect relative positional relationship, the connecting portions 153 and 154 on the auxiliary connecting device 15 can connect to the connecting members 1281a and 1281b on each of the moving arms, and the flexible portion of the auxiliary connecting device 15 can ensure that each surgical tool smoothly enters the surgical area through the sheath tube even if there is a certain error in the position and orientation of the end arms.

[0025] It should be understood that the auxiliary connection device 15 shown in Figure 4 is merely illustrative. In some embodiments, the robot system 10 may have three, four or more motion arms, and the auxiliary connection device 15 may have three, four or more sheath tubes, each sheath tube having a corresponding connection so that each sheath tube is connected to each motion arm and constrains the terminal relative positional relationship between the multiple terminal arms.

[0026] This disclosure provides a control method for use in robotic systems. Figure 5 shows a flowchart of the control method 500 for a robotic system (e.g., robotic system 10) according to some embodiments of this disclosure. Figure 6 shows another simplified block diagram of robotic system 10 according to some embodiments of this disclosure. As shown in Figures 5 and 6, this method 500 may be performed by a control device (e.g., control device 11) of the robotic system 10. The control device 11 may be located on a computing device. The method 500 may be implemented by software, firmware and / or hardware.

[0027] As shown in Figure 5, in step 501, the motion scheme of the first end of the first motion arm and the second end of the second motion arm of the robot system is identified. In some embodiments, the motion scheme may include the overall motion of the end of the first motion arm 12a (e.g., the first end arm 128a) and the end of the second motion arm 12b (e.g., the second end arm 128b). For example, the overall motion may include, but is not limited to, overall translation, overall rotation, or a combination of overall translation and overall rotation. It should be understood that the rotation of the entire end may include pitching rotation or horizontal rotation around a predetermined point. In some embodiments, the predetermined point may be the connection point between the auxiliary connection device 15 and the inlet, or the predetermined point may be a point on the extension line along the end of the motion arm, such as an RCM (remote center of motion) point.

[0028] In some embodiments, the control device 11 may specify the motion mode of the end of the first motion arm 12a and the end of the second motion arm 12b based on an operation command. In some embodiments, the control device 11 may include an input device 113. The input device 113 is configured to receive operation commands from a user and to receive operation instructions from a user, so that the control device 11 can obtain specific operation commands based on operation instructions. For example, if the motion mode is a general translation, the operation command may be a command to translate the first end arm 128a of the first motion arm 12a and the second end arm 128b of the second motion arm 12b as a whole. If the motion mode is a general rotation, the operation command may be a command to rotate the first end arm 128a of the first motion arm 12a and the second end arm 128b of the second motion arm 12b as a whole around a predetermined point or a straight line. For example, the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b may, as a whole, pitch and rotate around a predetermined point or rotate around a vertical axis. If the motion is a combination of overall translation and overall rotation, this operation command may also be a command to translate and rotate the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b as a whole.

[0029] In step 503, optionally, method 500 may include determining the distal relative positional relationship between the first end of the first motor arm and the second end of the second motor arm. In some embodiments, the distal relative positional relationship between the end of the first motor arm 12a (e.g., first end arm 128a) and the end of the second motor arm 12b (e.g., second end arm 128b) may be determined based on the type of surgery currently underway or the appearance of an auxiliary connection device (e.g., auxiliary connection device 15). In some embodiments, the relative positional relationship between the first end of the first motor arm and the second end of the second motor arm may be predetermined or known.

[0030] In some embodiments, the type of surgery currently in progress may be the type of surgery that needs to be performed at the present time, and for example, the type of surgery may include, but is not limited to, general surgery, thoracic surgery, urological surgery, gynecological surgery, etc. In some embodiments, the auxiliary connection device may be equipped with a sheath cover, and the appearance of the sheath cover may include, for example, the specifications and model number of the sheath cover in different surgical configurations (the specifications and model number may include, but is not limited to, the length of the sheath cover, radial dimensions, hole diameter, number of sheath tubes, the relative positional relationship in which multiple sheath tubes are provided, etc.). Each of the multiple sheath tubes is associated with the relative positional relationship of at least one movement arm, and the relative positional relationship of each movement arm with a different appearance of sheath tubes may be different. In some embodiments, the input device 113 may be used to receive setting information from the user (for example, setting information such as the type of surgery currently in progress, the appearance of the auxiliary connection device, and the relative positional model).

[0031] In some embodiments, the terminal relative positional relationship may include the relative positional and relative positional relationship between the first terminal arm 128a of the first movable arm 12a and the second terminal arm 128b of the second movable arm 12b. In some embodiments, surgical tools 14a and 14b may be attached to the first and second terminal arms 128a and 128b, and the terminal relative positional relationship may include the relative positional and relative positional relationship of the surgical tools 14a and 14b. It should be understood that the relative positional relationship between the surgical tools 14a and 14b may be specified by the relative positional relationship between the first terminal arm 128a and the second terminal arm 128b. In some embodiments, the terminal relative positional relationship may further include the relative positional and relative positional relationship of the connecting members 1281a and 1281b. The connecting members 1281a and 1281b are fixedly attached to the first end arm 128a and the second end arm 128b, respectively. Thus, the relative positional relationship of the surgical tools 14a and 14b may be determined by the relative positional relationship of the connecting members 1281a and 1281b. It should be understood that the relative positional relationships between surgical tools, between end arms, and between connecting members are interchangeable.

[0032] In some embodiments, the terminal relative positional relationship between the terminals of the first and second motor arms may be determined based on the current positional posture of the terminal end of the first motor arm 12a and the current positional posture of the terminal end of the second motor arm 12b. For example, in surgery, the terminal relative positional relationship may be determined based on the current positional posture of the terminal arm 128a of the first motor arm 12a and the current positional posture of the terminal arm 128b of the second motor arm 12b.

[0033] In some embodiments, as shown in Figure 6, the control device 11 may be communicatively connected to each motion arm (e.g., first and second motion arms 12a, 12b). In some embodiments, as shown in Figure 6, the first motion arm 12a may further comprise one or more sensors 129a. The electrical components of joints 1201-1208a may each be coupled to a plurality of sensors 129a. The second motion arm 12b may further comprise one or more sensors 129b. The electrical components of joints 1201-1208b may each be coupled to a plurality of sensors 129b. Figure 6 illustrates one sensor, and it should be understood that the illustrated sensors 129a, 129b may represent multiple sensors. Sensors 129a, 129b may include, for example, encoders or potentiometers, but are not limited to these. Sensors may be used to acquire data for multiple joints of a corresponding motion arm, such as measuring the joint values ​​of the corresponding joints. In some embodiments, the sensor may include an optical fiber sensor extending from the moving arm to acquire the position and orientation of the moving arm.

[0034] In some embodiments, as shown in Figure 6, the control device 11 may include one or more processors 111 and memory 112. The processor 111 may be communicatively connected to a plurality of sensors 129a of the first movable arm 12a so as to acquire the current joint values ​​of each joint 1201 to 1208a of the first movable arm 12a using a plurality of sensors 129a. The processor 111 may be communicatively connected to a plurality of sensors 129b of the second movable arm 12b so as to acquire the current joint values ​​of each joint 1201 to 1208b of the second movable arm 12b using a plurality of sensors 129b.

[0035] In some embodiments, the processor 111 may analyze the current joint values ​​of each joint based on the forward kinematic model of the first and second motor arms 12a and 12b (for example, the end of the first motor arm and the end of the second motor arm) to obtain the current position and orientation of the first and second motor arms 12a and 12b. It should be understood that the current position and orientation may include the current orientation and current position, and the current position and orientation may be the position and orientation at any given time. The forward kinematic model of the first motor arm 12a may be pre-set and stored in the memory 112. The forward kinematic model of the motor arm can obtain the positional orientation of any position or any part of the motor arm (for example, the positional orientation of the first and second terminal arms 128a, 128b, the connecting members 1281a, 1281b fixedly attached to the first and second motor arms 12a, 12b, and the surgical tools 14a, 14b attached to the first and second motor arms 12a, 12b) based on all known joint variables of the motor arm (e.g., joint values).

[0036] In step 505, the first motion path of the first motion arm and the second motion path of the second motion arm are identified based on the motion method and the relative positional relationship of the end limbs. It should be understood that the motion path of the first motion arm 12a may refer to the path by which the first motion arm 12a moves from one positional orientation to another, represented by changes in joint values ​​of multiple joints (e.g., joints 1201 to 1208a) (e.g., a continuous change in joint values, or one or more transitional joint values). The motion path of the second motion arm 12b may refer to the path by which the second motion arm 12b moves from one position to another, represented by changes in joint values ​​of multiple joints (e.g., joints 1201 to 1208b).

[0037] In step 507, the movements of the first and second moving arms are controlled based on the first and second movement paths, respectively, so as to move the ends of the first and second moving arms according to the motion scheme and to maintain a constant relative positional relationship between the ends during movement.

[0038] In some embodiments, method 500 may determine whether there is interference between the first moving arm 12a and the second moving arm 12b based on the first motion path of the first moving arm 12a and the second motion path of the second moving arm 12b. Step 507 is performed in response to the determination that there is no interference between the first moving arm 12a and the second moving arm 12b. If it is determined that there is interference between the first moving arm 12a and the second moving arm 12b, the method may control the movement of the first and second moving arms 12a and 12b to stop or issue an alarm.

[0039] In some embodiments, method 500 may include receiving an operation command. In some embodiments, the operation command may include, for example, moving the entire first and second motion arms 12a, 12b by a specific distance or rotating them by a specific angle.

[0040] In some embodiments, during the process of performing steps 501 to 507, at least one of the surgical tools (e.g., surgical tools 14a, 14b) may be placed on the end of the corresponding motor arm (e.g., the first end arm 128a of the first motor arm and the second end arm 128b of the second motor arm).

[0041] Figure 7 shows a flowchart of method 700 for determining the motion path of a moving arm according to some embodiments of the present disclosure. In some embodiments, method 700 may be used to carry out step 505 shown in Figure 5, which determines a first motion path of a first moving arm and a second motion path of a second moving arm based on the motion scheme and the end-to-end relative position and orientation relationship. Method 700 may be performed by a control device of the robot system 10 (e.g., control device 11). The control device 11 may be located on a computing device. Method 700 may be implemented by software, firmware and / or hardware.

[0042] In step 701, the target position and orientation of the first end of the first movable arm is determined based on the motion mode. In some embodiments, the target position and orientation of the first end may be determined based on an operation command received from the user. The operation command may include the target position and orientation, the motion mode, and the width. In some embodiments, the current position and orientation of the end of the first movable arm 12a (e.g., the first end arm 128a) may be obtained by analyzing the current joint values ​​of each joint of the first movable arm 12a using a forward kinematic model of the first movable arm 12a. The target position and orientation of the first end of the first movable arm 12a may be determined based on the current position and orientation of the end of the first movable arm 12a and a user operation command. For example, the target position and orientation may be determined based on the current position and orientation of the first end of the first movable arm, the motion mode (e.g., overall leftward movement, rotation, etc.), and the width (e.g., movement distance, rotation angle, etc.).

[0043] In some embodiments, the target position and orientation of the first end of the first movable arm 12a may include any one of the following: the target position and orientation of the first end arm 128a of the first movable arm 12a; the target position and orientation of the distal center of motion mechanism (RCM mechanism) of the first movable arm 12a; and the target position and orientation of the end (e.g., connecting member 1281a) of the first movable arm 12a that is connected to the auxiliary connecting device 15.

[0044] In step 703, the target position and orientation of the second end of the second motion arm is determined based on the motion scheme. In some embodiments, the target position and orientation of the second end of the second motion arm may be determined based on the overall motion scheme and the target position and orientation of the first end and the relative position of the end. In some embodiments, the target position and orientation of the end of the second motion arm 12b may include any one of the following: the target position and target orientation of the second end arm 128b of the second motion arm 12b, the target position and target orientation of the distal center of motion mechanism (RCM mechanism) of the second motion arm 12a, and the target position and target orientation of the end (e.g., connecting member 1281b) connected to the auxiliary connecting device 15 in the second motion arm 12b. It should be understood that the target position and orientation of the end of the second motion arm 12b may be determined by the relationship between the target position and orientation of the end of the first motion arm 12a and the relative position and orientation of the end. In some embodiments, when surgical tools 14a and 14b are provided at the ends of the first and second movable arms 12a and 12b, the target positional orientation of the surgical tools 14a and 14b may be determined based on the target positional orientation of the end of the first movable arm 12a and the end of the second movable arm 12b.

[0045] In some embodiments, method 700 may further include step 705. In step 705, a target positional orientation of the first movable arm is determined based on the current positional orientation of the first movable arm and the target positional orientation of the first end, and a target positional orientation of the second movable arm is determined based on the current positional orientation of the second movable arm and the target positional orientation of the second end. In some embodiments, to obtain the current positional orientation of the first movable arm 12a, the current joint values ​​of each joint of the first movable arm 12a may be obtained by sensors attached to each joint of the first movable arm 12a (e.g., sensor 129a) and analyzed using a forward kinematic model of the first movable arm 12a. To obtain the current positional orientation of the second movable arm 12b, the current joint values ​​of each joint of the second movable arm 12b may be obtained by sensors attached to each joint of the second movable arm 12b (e.g., sensor 129b) and analyzed using a forward kinematic model of the second movable arm 12b. It should be understood that the position and orientation of a movable arm may be represented by a set of joint values ​​of multiple joints included in the movable arm. In some embodiments, the target position and orientation of the movable arm may be determined based on the current position and orientation of the movable arm and the target position and orientation of the end of the movable arm, as shown in Figure 8.

[0046] In step 709, the first and second motion paths are determined based on the current and target positional orientations of the first and second motion arms. In some embodiments, the first motion path of the first motion arm 12a and the second motion path of the second motion arm 12b may be determined based on an interpolation method, and the motion paths may include at least one motion cycle. In some embodiments, the motion path from the initial positional orientation of the motion arm to the target positional orientation can be planned by the method shown in Figure 9.

[0047] In some embodiments, method 700 may further include step 707. In step 707, it is determined whether there is an interference relationship between the first moving arm and the second moving arm. It should be understood that the interference relationship may include a collision between the first moving arm 12a and the second moving arm 12b. Step 709 is performed depending on whether it is determined that there is no interference relationship between the first moving arm 12a and the second moving arm 12b.

[0048] In some embodiments, method 700 may further include step 711. In step 711, if it is determined that there is interference between the first moving arm and the second moving arm, control is taken to stop the movement of the first moving arm and the second moving arm, or an alarm is issued.

[0049] In some embodiments, it may be determined whether or not there is an interference relationship between the first moving arm 12a and the second moving arm 12b based on constraint relationships. Based on the satisfaction of the constraint relationships, it may be determined that there is no interference relationship between the first moving arm 12a and the second moving arm 12b. Based on the non-satisfaction of the constraint relationships, it may be determined that there is an interference relationship between the first moving arm 12a and the second moving arm 12b. It should be understood that constraint relationships can be limited by the interference model.

[0050] In some embodiments, the constraint relationship may include any one of the following: the relative positional sequence relationship between the first motion arm 12a and the second motion arm 21b conforms to a predetermined relative positional sequence relationship; the distance between a predetermined point associated with the first motion arm 12a and a predetermined point associated with the second motion arm 12b is greater than a predetermined safety distance; the minimum distance between a preset line segment associated with the first motion arm 12a and a preset line segment associated with the second motion arm 12b is greater than a predetermined safety line segment distance; and the difference between the joint value of one or more joints of the first motion arm 12a and the joint value of the corresponding joint of the second motion arm 12b is greater than a predetermined safety value.

[0051] In some embodiments, a predetermined relative positional order relationship may include, but is not limited to, arranging a plurality of motion arms clockwise or counterclockwise. The relative positional order relationship between a plurality of motion arms may be represented by the relative positional order of the joints or links of the motion arms. For example, if the relative positional order between the end position of each motion cycle of one or more joints (e.g., joints 1202a and / or 1203a) adjacent to the crossbeam 132 in the first motion arm 12a and the end position of each motion cycle of the corresponding one or more joints (e.g., joints 1202b and / or 1203b) adjacent to the crossbeam 132 in the adjacent motion arm (e.g., the second motion arm 12b) matches a clockwise or counterclockwise order, then it can be determined that the first motion arm 12a and the second motion arm 12b satisfy the constraint of the relative positional order relationship. Conversely, it can be determined that a predetermined relative positional sequence is not satisfied between the first moving arm 12a and the second moving arm 12b, and interference may occur between the first moving arm 12a and the second moving arm 12b. In some embodiments, whether the relative positional sequence relationship between the first moving arm 12a and the second moving arm 12b conforms to a predetermined relative positional sequence relationship can be determined by determining whether the relative positional sequence between the ends of one or more links of the first moving arm 12a (e.g., links 121a and / or 122a) and the corresponding ends of the second moving arm 12b (e.g., links 121b and / or 122b) conforms to a predetermined relative positional sequence (e.g., a clockwise or counterclockwise sequence).

[0052] In some embodiments, the relative positional order relationship between multiple motion arms may also be represented by the motion angles of the joints or links of the motion arms with respect to the same reference direction. For example, based on the initial positional order, it can be determined that the rotation angle of the joint of the first motion arm 12a (e.g., joint 1201a) relative to the crossbeam 132 is smaller than the rotation angle of the joint of the second motion arm 12b (e.g., joint 1201b) relative to the crossbeam 132. As the rotation angle of joint 1201a relative to the crossbeam 132 is smaller than the rotation angle of joint 1201b relative to the crossbeam 132, it can be determined that the first and second motion arms 12a and 12b satisfy a predetermined relative positional order constraint. Conversely, it can be determined that a predetermined relative positional order is not satisfied between the first motion arm 12a and the second motion arm 12b, and an interference relationship may occur between the first motion arm 12a and the second motion arm 12b.

[0053] In some embodiments, a predetermined point related to a moving arm may include a fixed point in a link of the moving arm, a joint of the moving arm, or other points related to the moving arm. For example, a predetermined point related to a first moving arm 12a may be a predetermined joint of the first moving arm 12a (e.g., joint 1203a), and a predetermined point related to a second moving arm 12b may be a corresponding joint of the second moving arm 12b (e.g., joint 1203b). In some embodiments, the distance between the joint 1203a of the first moving arm 12a and the joint 1203b of the second moving arm 12b may be determined based on the joint axis of the joint 1203a of the first moving arm 12a and the joint axis of the joint 1203b of the second moving arm 12b. In some embodiments, a predetermined point related to the first motion arm 12a may be a fixed point on a predetermined link of the first motion arm 12a (e.g., link 121a), and a predetermined point related to the second motion arm 12b may be a fixed point on a corresponding link of the second motion arm 12b (e.g., link 121b) or an adjacent link (e.g., 123b). In some embodiments, a predetermined point related to the first motion arm 12a may be a fixed point on a predetermined link of the first motion arm 12a (e.g., distal motion center mechanism, RCM mechanism), and a predetermined point related to the second motion arm 12b may be a projection point in the horizontal plane of the axis of a link of the second motion arm 12b (e.g., link 124b). For example, if the distance between the joint axes of joint 1203a and joint 1203b is greater than the safety distance, or if the distance between predetermined points on the first and second movable arms 12a and 12b is greater than the safety distance, it can be determined that the first and second movable arms 12a and 12b satisfy the constraint of the safety distance relationship between the predetermined points. Conversely, if the distance between predetermined points is less than the safety distance, it can be determined that interference may occur between the first and second movable arms 12a and 12b. It should be understood that the safety distance may be a predetermined distance, for example, 135 mm, but is not limited thereto. It should be understood that the safety distance may be set based on the dimensions of the joint or link. The safety distances between predetermined points corresponding to different joints or links may be different.It should be understood that the predetermined points related to the first and second motion arms 12a and 12b may include, but are not limited to, the cases shown in the embodiments described above.

[0054] In some embodiments, a predetermined line segment related to a moving arm may include the edge or axis of a link of the moving arm, the joint axis of the moving arm, or other line segments related to the moving arm. It should be understood that the minimum distance between two line segments is the smaller of the distance between the starting points of the two line segments and the distance between the ending points of the two line segments. For example, a predetermined line segment related to a first moving arm 12a may be a predetermined link of the first moving arm 12b (e.g., link 121a), and a predetermined line segment related to a second moving arm 12b may be a predetermined link of the second moving arm 12b (e.g., link 122b). In some embodiments, a predetermined line segment related to the first motion arm 12a may be a predetermined link of the first motion arm 12a (e.g., link 125a), and a predetermined line segment related to the second motion arm 12b may be a predetermined link of the second motion arm 12b (e.g., a ridge adjacent to link 125a in the distal motion center mechanism (RCM mechanism), for example, a ridge adjacent to link 125a in link 126a). In some embodiments, a predetermined line segment related to the first motion arm 12a may be a line segment formed between the RCM point of the first motion arm 12a and a point on the extension of a predetermined link of the first motion arm 12a (e.g., link 128a), and a predetermined line segment related to the second motion arm 12b may be a ridge adjacent to the first motion arm 12a in a predetermined link of the second motion arm 12b (e.g., link 128b). In some embodiments, a predetermined line segment related to the first movable arm 12a may be an edge of a predetermined link of the first movable arm 12a (e.g., link 124a) (e.g., an edge adjacent to the second movable arm 12b), and a predetermined line segment related to the second movable arm 12b may be an edge of a corresponding link of the second movable arm 12b (e.g., link 124b) (e.g., an edge adjacent to the first movable arm 12a). In some embodiments, a predetermined line segment related to the first movable arm 12a may be the joint axis of the first movable arm 12a, and a predetermined line segment related to the second movable arm 12b may be the joint axis of the second movable arm 12b.In some embodiments, a predetermined line segment related to the first movable arm 12a may be the line segment between the intersection of the joint axis of the first movable arm 12a (e.g., the axis of joint 1204a) and another joint axis (e.g., the axis of joint 1205a) and the distal end of the link of the first movable arm 12a (e.g., link 125a), and a predetermined line segment related to the second movable arm 12b may be the line segment between the intersection of the joint axis of the second movable arm 12b (e.g., the axis of joint 1204b) and another joint axis (e.g., the axis of joint 1205b) and the distal end of the link of the second movable arm 12b (e.g., link 125b). For example, if the minimum distance between link 121a and link 122b is greater than the safety distance, or if the minimum distance between link 125a and the edge adjacent to link 125a in the RCM mechanism of the second moving arm 12b (for example, the edge adjacent to link 125a in link 126b) is greater than the safety distance, or if the minimum distance between the line segment formed between the RCM point of the first moving arm 12a and the point on the extension of link 128a and the edge adjacent to the first moving arm 12a in link 128b is greater than the safety distance, or if link 124a If the minimum distance between the edge adjacent to the second movable arm 12b and the edge adjacent to the first movable arm 12a at link 124b is greater than the safety distance, or if the minimum distance between the line segment formed by the axial intersection of joints 1204a and 1205a and the distal end of link 125a and the line segment formed by the axial intersection of joints 1204b and 1205a and the distal end of link 125b is greater than the safety distance, then it can be determined that the constraint of a predetermined line segment safety distance relationship is satisfied between the first movable arm 12a and the second movable arm 12b. Conversely, if the distance between the predetermined line segments is less than the safety distance, it can be determined that an interference relationship may occur between the first movable arm 12a and the second movable arm 12b. It should be understood that the safety distance may be, for example, 135 mm, 120 mm, 60 mm, etc., but is not limited to these. It should be understood that the safety distance may be set based on the dimensions of the joints or links. The safe distances between predetermined points corresponding to different joints or links may differ.It should be understood that the predetermined line segments related to the first and second motion arms 12a and 12b may include, but are not limited to, the cases shown in the embodiments described above.

[0055] In some embodiments, it can be identified that if the difference between the joint values ​​of one or more joints of the first movable arm 12a (e.g., the joint value of joint 1203a) and the joint values ​​of the corresponding joints of the second movable arm 12b (e.g., the joint value of joint 1203b) is greater than a predetermined safety value (e.g., a safety angle), then the first movable arm 12a and the second movable arm 12b satisfy the constraints of the joint safety angle relationship. Conversely, if the difference between the joint values ​​is less than a predetermined safety value, then it can be identified that an interference relationship may occur between the first movable arm 12a and the second movable arm 12b.

[0056] It should be understood that when a robot system has three, four or more motion arms, the constraint relationships are also used to determine interference between adjacent motion arms or between motion arms located close together. In some embodiments, the comparison targets of the constraint relationships may be structures that are prone to interference between adjacent motion arms (for example, a predetermined line segment related to the first motion arm 12a and a predetermined line segment related to the second motion arm 12b, a predetermined point related to the first motion arm 12a and a predetermined point related to the second motion arm 12b, one or more joints of the first motion arm 12a and the corresponding joint of the second motion arm 12b). Structures that do not necessarily interfere between multiple motion arms may be excluded from the comparison targets of the constraint relationships, eliminating the need to compare all structures of adjacent motion arms, thereby reducing the computational load of the constraint relationship comparison process and improving the operational efficiency of the system.

[0057] Figure 8 shows a flowchart of Method 800 for determining the target position and orientation of a moving arm according to some embodiments of the present disclosure. For example, in step 705 shown in Figure 7, Method 800 can be used to determine the first target position and orientation of a first moving arm based on the first current position and orientation of the first end of the first moving arm, and to determine the second target position and orientation of a second moving arm based on the second current position and orientation of the second end of the second moving arm. Method 800 may be performed by a control device of the robot system 10 (e.g., control device 11). The control device 11 may be located on a computing device. Method 800 may be implemented by software, firmware and / or hardware.

[0058] As shown in Figure 8, in step 801, method 800 may include selecting one of several joints of the moving arm as a feature joint and setting a recommended target joint value for the feature joint. In some embodiments, a second moving arm 12b is taken as an example. One of several joints of the second moving arm 12b may be selected as a feature joint, and a recommended target joint value for the feature joint may be set in advance. In some embodiments, the feature joint of the moving arm may be a joint that is likely to collide with an adjacent moving arm among several joints. For example, the selected feature joint may be a joint that is likely to collide with the first moving arm 12a among several joints of the second moving arm 12b, such as joint 1205b or 1206b shown in Figure 3. It should be understood that if the robot system 10 has multiple moving arms (e.g., three or four moving arms), the recommended target joint values ​​for the feature joints of different moving arms may be different. In some embodiments, the recommended target joint values ​​may be set in advance.

[0059] In step 803, the inverse kinematic model of the moving arm is analyzed based on the target position and orientation of the end of the moving arm and the recommended target joint values, in order to obtain other target joint values ​​for the moving arm. It should be understood that the other target joint values ​​include the target joint values ​​for all other joints of the moving arm other than the characteristic joints. For example, the inverse kinematic model of the second moving arm 12b is analyzed based on the target position and orientation of the end arm 128b of the second moving arm 12b and the recommended target joint values ​​of the recommended joint (e.g., 1205b), in order to obtain other target joint values ​​for the second moving arm 12b.

[0060] In some embodiments, method 800 may further include step 805. In step 805, it is determined whether other target joint values ​​of the movable arm are within the range of motion of the corresponding joint. It should be understood that each joint of the movable arm has a certain range of motion, and the range of motion of each joint is the range between the minimum limit joint value and the maximum limit joint value of the corresponding joint. The minimum limit joint value and the maximum limit joint value do not have to be within this range. For example, the range of motion of one joint may be 18 to 45 degrees, the range of motion of another joint may be 45 to 90 degrees, and the range of motion of another joint may be -90 to -45 degrees.

[0061] In some embodiments, Method 800 may further include step 807. In step 807, the recommended target joint value of the moving arm is adjusted so that the recommended target joint value is gradually increased or decreased by a predetermined adjustment value, and Method 800 returns to step 803. For example, the recommended target joint value of the second moving arm 12b is adjusted so that the recommended target joint value is gradually increased or decreased by a predetermined adjustment value depending on whether at least one of the other target joint values ​​of the second moving arm 12b is not within the range of motion of the corresponding joint. In some embodiments, the adjustment value may be set to, for example, 0.2° or 0.5° to adjust the recommended target joint value. It should be understood that 0.2° or 0.5° are merely examples, and the adjustment value may be set to any other value. The predetermined adjustment value is gradually increased or decreased until a solution exists or the range of motion of the characteristic joint (which does not necessarily include the joint limit value) is reached. For example, the existence of a solution may indicate that the recommended target joint value is within the range of motion of the characteristic joint and that all other recommended target joint values ​​are within the range of motion of the corresponding joints.

[0062] In some embodiments, method 800 may further include the step of determining whether the adjusted recommended target joint value is within the range of motion of the feature joint. Depending on whether the adjusted recommended target joint value is within the range of motion of the feature joint, the adjusted recommended target joint value is selected as the recommended target joint value, and the process returns to step 803.

[0063] In some embodiments, Method 800 may further include step 811. In step 811, the target position and posture of the movable arm is determined based on the recommended target joint values ​​and other target joint values ​​of the movable arm. For example, the target position and posture of the second movable arm 12b is determined based on the recommended target joint values ​​and other target joint values ​​of the second movable arm 12b, depending on whether the other target joint values ​​of the second movable arm 12b are all within the range of motion of the corresponding joints. For example, a set of recommended target joint values ​​and other target joints may be selected as the target joint values ​​of the second movable arm 12b. By determining the target joint values ​​of the second movable arm 12b, the target position and posture of the second movable arm 12b can be determined. It should be understood that the target position and posture of the first movable arm 12a may also be determined by Method 800.

[0064] In some embodiments, method 800 may further include step 809 between step 805 and step 811. In step 809, it is determined whether there is an interference relationship between the multiple motion arms. For example, depending on whether all other target joint values ​​of the second motion arm 12b are within the range of motion of the corresponding joints, it is determined, based on constraints, whether there is an interference relationship between the second motion arm 12b and an adjacent motion arm (e.g., the first motion arm 12a). In some embodiments, depending on whether it is determined that there is no interference relationship between the multiple motion arms, step 811 is performed. For example, depending on whether it is determined that there is no interference relationship between the second motion arm 12b and the first motion arm 12a, the target position and orientation of the second motion arm 12b is determined based on the recommended target joint value and other target joint values ​​of the second motion arm 12b. In some embodiments, depending on whether it is determined that there is an interference relationship between the multiple motion arms, method 800 proceeds to step 807. For example, if it is determined that there is an interference relationship between the second movable arm 12b and the first movable arm 12a, the recommended target joint value of the second movable arm 12b is adjusted so as to gradually increase or decrease by a predetermined adjustment value.

[0065] In some embodiments, if there are multiple sets of solutions that satisfy the conditions for the recommended target joint values ​​and other target joint values ​​(for example, if there are multiple sets of target joint values ​​for the second movable arm 12b that satisfy the conditions), the set of solutions in which each joint of the second movable arm 12b interferes least with the first movable arm 12a may be selected as the target joint values ​​for the second movable arm 12b and output as the unique solution.

[0066] Figure 9 shows a flowchart of method 900 for determining the motion path from an initial position to a target position of a moving arm according to some embodiments of the present disclosure. In some embodiments, method 900 is used to carry out step 709 shown in Figure 7. Method 900 may be performed by a control device of the robot system 10 (e.g., control device 11). The control device 11 may be located on a computing device. Method 900 may be implemented by software, firmware and / or hardware.

[0067] As shown in Figure 9, in step 901, the joint stride length of each joint included in the movable arm is identified. In some embodiments, the process of controlling the movable arm to move it to a target position may include one or more motion cycles, and each joint stride length corresponds to the motion stride length of the movable arm in a single motion cycle. In one implementation, a single motion cycle may be 80 ms. In some embodiments, the joint stride length of each joint may indicate the angle that the corresponding joint can move around its joint axis in each motion cycle. For example, the motion stride length corresponding to the movable arm in a single motion cycle may be predetermined, and the motion stride length of the movable arm may be a collection of the joint strides of multiple joints of the movable arm. In some embodiments, method 1000 shown in Figure 10 is used to identify the stride length of each joint included in the movable arm.

[0068] In step 903, the end position posture of the moving arm in each movement cycle is determined based on the joint stride length of each joint. In some embodiments, the end position posture of each movement cycle in multiple movement cycles may be determined by interpolation between the initial position posture and the target position posture of the moving arm. For example, taking the first moving arm 12a as an example, if the current movement cycle is the first movement cycle, the current position posture of the first moving arm 12a is the initial position posture of the first moving arm 12a. If the current movement cycle is not the first movement cycle, the current position posture of the first moving arm 12a is the end position posture of the previous movement cycle. Based on the current position posture of the first moving arm 12a and the joint stride length corresponding to each joint of the first moving arm 12a, the end joint values ​​of each joint of the first moving arm 12a in the current cycle are determined.

[0069] In some embodiments, method 900 further includes step 905. In step 905, it is determined whether there is an interference relationship between a moving arm and another moving arm based on the end position orientation of each motion cycle. For example, based on the end position orientation of the current cycle, it is determined whether there is an interference relationship, such as a collision, between the first moving arm 12a and the second moving arm 12b or another moving arm (e.g., another moving arm that is close in distance).

[0070] In step 907, the motion path of the motion arm is identified based on the final position orientation of each motion cycle. For example, the final position orientation of each motion cycle is identified as the motion path if it is determined that there is no interference between the motion arm and other motion arms during the process of the motion arm moving from the initial position orientation to the target position orientation.

[0071] In step 909, an alarm is issued. For example, an alarm may be issued if it is determined that there is an interference relationship between one moving arm and another moving arm. For example, interference is determined for the first and second moving arms 12a and 12b, and an alarm may be issued if at least one of the first moving arm 12a and the second moving arm 12b collides with the other moving arm.

[0072] Figure 10 shows a flowchart of Method 1000 for determining the joint stride length of each joint included in a moving arm according to some embodiments of the present disclosure. In some embodiments, Method 1000 may be used to determine the joint stride length of each joint included in a moving arm by implementing step 901 shown in Figure 9. Method 1000 may be performed by a control device of the robot system 10 (e.g., control device 11). The control device 11 may be located on a computing device. Method 1000 may be implemented by software, firmware and / or hardware.

[0073] As shown in Figure 10, in step 1001, the difference between the target position and initial position of the movable arm is determined based on the target position and orientation of the movable arm. For example, the position and orientation of the movable arm may be represented by a set of joint values ​​of multiple joints included in the movable arm. The difference between the target position and initial position of the movable arm may be represented by a set of differences between the joint value of the corresponding joint of the movable arm at the target position and the joint value of the corresponding joint at the initial position.

[0074] In step 1003, the target number of joint steps is determined based on the difference between each joint in the difference between the target position and initial position of the moving arm, and the extreme value of the joint stride length for each joint. It should be understood that the joint stride length may represent the angle by which a joint can move around the joint axis in each movement cycle. The extreme value of the stride length may refer to the maximum angle by which a joint can move around the joint axis in each movement cycle. For example, the number of steps for each joint of the first moving arm (e.g., the first moving arm 12a) is determined based on the difference between each joint in the difference between the target position and initial position of the moving arm, and the extreme value of the stride length for each joint. The maximum number of steps for each joint may be selected as the target number of joint steps.

[0075] In step 1005, the joint stride length of each joint of the moving arm is determined based on the difference between each joint in the difference between the target position and initial position of the moving arm, and the target number of joint steps. For example, the joint stride length of each joint of the first moving arm 12a (or second moving arm 12b) is calculated by dividing the difference between each joint in the difference between the target position and initial position of the first moving arm 12a (or second moving arm 12b) by the target number of joint steps.

[0076] Figure 11 shows a schematic architecture of a control device 11 included in a robot system 10 according to an embodiment of the present disclosure. In some embodiments, as shown in Figure 11, the control device 11 may include an input device 113, an output device 114, one or more memories 112, one or more processors 111, and a communication interface 115. In some embodiments, the control device 11 may not include an output device.

[0077] In some embodiments, the input device 113 may include, but is not limited to, a button, keyboard, touchscreen, or microphone. The input device may be configured to directly receive or receive operation commands from the user so that the control device can obtain specific operation commands based on the operation instructions. Operation commands may include, for example, commands to instruct the second end arm 128b and the first end arm 128a to move while maintaining a constant relative positional relationship between the ends. In some embodiments, the input device 113 may be used to receive setting information from the user, such as the type of surgery currently underway, the appearance of the auxiliary connection device, and the relative positional model.

[0078] In some embodiments, the output device 114 may include, but is not limited to, a display, speaker, and indicator lamps arranged to indicate the status of each component of the robot system 10 and output alarm signals, etc.

[0079] In some embodiments, memory 112 may store a computer program executable by processor 111. When executing the computer program, processor 111 implements the control method described in the embodiments described above. The number of memory 112 and processor 111 may be one or more. Communication interface 115 is used to communicate between the control device 11 (e.g., the processor 111 of the control device 11) and an external device. In this disclosure, the control device 11 may communicate with electrical equipment provided at each joint of each movable arm (e.g., a first movable arm 12a, a second movable arm 12b) via, for example, the communication interface 115, to move each movable arm to a corresponding target position, and the control device 11 may also communicate with sensors at each joint of the movable arm via, for example, the communication interface 115, to receive joint values ​​for each joint of the movable arm. In one example of this disclosure, the communication interface 115 may be a CAN bus communication interface that allows the control device 11 to communicate with electrical equipment and sensors provided at each joint via a CAN bus.

[0080] As shown in Figure 11, the input device 113, output device 114, memory 112, processor 111, and communication interface 115 may be connected to each other via a bus to complete communication between them. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc.

[0081] In some embodiments, the processor 111 may be any type of general-purpose processor, such as a central processor (CPU) or a digital signal processor (DSP), and is not limited thereto.

[0082] In some embodiments, the control device 11 may be integrated with the base 131 and located within the base 131 (for example, below the base 131) to save space. However, in practical applications, the control device 11 may be provided separately from the base 131, or part of it may be integrated with the base 131 and the other part may be provided separately from the base 131. Alternatively, the control device 11 may employ other mounting methods that enable it to communicate with and control each arm.

[0083] In some embodiments, the Disclosure provides a computer-readable storage medium which may include at least one instruction, the at least one instruction being executed by a processor to perform the control method in any of the embodiments described above.

[0084] In some embodiments, the disclosure provides a computer system which may comprise a non-volatile storage medium and at least one processor. The non-volatile storage medium may include at least one instruction. The processor is arranged to execute at least one instruction to cause the processor to perform the control method in any of the embodiments described above.

[0085] In some embodiments, the computer-readable storage medium may be a tangible device capable of holding and storing commands used by a command execution device. The computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0086] In some embodiments, the computer-readable storage medium may include, but is not limited to, a portable computer disk, hard disk, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state memory technology, CD-ROM, digital versatile disk (DVD), HD-DVD, Blu-ray, or other optical storage devices, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that stores the necessary information and is accessible by a computer. It should be understood that the computer device may include a personal computer, a server, or a network device, etc.

[0087] In some embodiments of this disclosure, the displacement of the movable arms during preoperative preparation can be optimized, and the target position and orientation of one movable arm can be calculated from the real-time position and orientation of another movable arm, allowing the arm to be moved to that target position and orientation, thereby realizing a highly automated preoperative displacement process.

[0088] In some embodiments of this disclosure, after calculating the target position and orientation of another moving arm in real time, it is also possible to accurately, quickly, and safely move that moving arm to the target position using a specific planning method, thereby achieving efficient and safe preoperative preparation.

[0089] In some embodiments of this disclosure, the ends of multiple movable arms move as a whole, maintaining a constant relative postural relationship between the ends of the multiple movable arms during movement, enabling rapid and accurate movement of the multiple movable arms. In surgery, the overall movement of the multiple movable arms can also enable rapid adjustment of the position and orientation of surgical tools attached to the multiple movable arms, reducing the difficulty of operation for the user (e.g., a physician) and improving pre-operative or intra-operative work efficiency.

[0090] Furthermore, this disclosure also discloses the following: 1. A control method for a robot system, wherein the robot system comprises a plurality of moving arms, including a first and a second moving arm, and the control method is To identify a motion scheme including the overall motion of the first end of the first moving arm and the second end of the second moving arm of the robot system, Based on the motion method and the relative positional relationship between the first end of the first motion arm and the second end of the second motion arm, the first motion path of the first motion arm and the second motion path of the second motion arm are identified. This includes controlling the motion of the first and second motion arms based on the first and second motion paths such that the first end of the first motion arm and the second end of the second motion arm move in the motion manner described above and maintain a constant relative positional relationship between the ends during motion.

[0091] 2. The control method described in paragraph 1, The method further includes determining the terminal relative positional relationship between the first end of the first motor arm and the second end of the second motor arm, based on the type of surgery currently underway or the appearance of the auxiliary connection device.

[0092] 3. A control method described in paragraph 1 or 2, wherein the first motion path of the first motion arm and the second motion path of the second motion arm are determined based on the motion method and the relative position and orientation relationship of the end parts. Based on the motion method, the target position and orientation of the first end of the first moving arm is determined, This includes determining the target position and orientation of the second end of the second moving arm based on the motion method described above.

[0093] 4. The control method described in paragraph 3, The target position and orientation of the first end is The target position and target orientation of the end arm of the first moving arm, The target position and target orientation of the distal center of motion (RCM) mechanism of the first moving arm, The first motion arm includes either a target position and a target orientation of the end for connection to an auxiliary connecting device, The target position and orientation of the end of the second series is The target position and target orientation of the terminal arm of the second moving arm, The target position and target orientation of the distal center of motion (RCM) mechanism of the second moving arm, This includes either a target position or target orientation of the end for connecting to the auxiliary connecting device of the second motion arm.

[0094] 5. A control method described in paragraph 3 or 4, Based on the first current position and orientation of the first moving arm and the target position and orientation of the first end, a first target position and orientation of the first moving arm is determined. This includes determining a second target position and orientation of the second moving arm based on the second current position and orientation of the second end of the second moving arm.

[0095] 6. The control method described in paragraph 5, wherein the first target position and orientation of the first moving arm is determined based on the first current position and orientation of the first moving arm and the target position and orientation of the first end, Selecting one of the multiple joints of the first movable arm as the first characteristic joint, Setting a first recommended target joint value for the first characteristic joint, This includes, or, identifying other target joint values ​​of the first movable arm based on the target position and orientation of the first end and the first recommended target joint values. Based on the second current position and orientation of the second moving arm and the target position and orientation of the second end, determining the second target position and orientation of the second moving arm is: Selecting one of the multiple joints of the second movable arm as the second characteristic joint, Setting a second recommended target joint value for the second characteristic joint, This includes identifying other target joint values ​​of the second movable arm based on the target position and orientation of the second end and the second recommended target joint values.

[0096] 7. The control method described in paragraph 6, To determine whether the other target joint values ​​of the first moving arm are within the range of motion of the corresponding joints, The method further includes adjusting the first recommended target joint value so as to gradually increase or decrease the first recommended target joint value by a predetermined adjustment value in response to at least one of the other target joint values ​​of the first moving arm not being within the range of motion of the corresponding joint, or Determining whether the other target joint values ​​of the second moving arm are within the range of motion of the corresponding joint, The method further includes adjusting the second recommended target joint value so as to gradually increase or decrease the second recommended target joint value by a predetermined adjustment value in response to the fact that at least one of the other target joint values ​​of the second movable arm is not within the range of motion of the corresponding joint.

[0097] 8. The control method described in paragraph 7, Depending on whether any other target joint values ​​of the first movable arm are within the range of motion of the corresponding joints, the method further includes determining a first target position and orientation of the first movable arm based on the first recommended target joint value and the other target joint values, or Depending on whether any other target joint values ​​of the second movable arm are within the range of motion of the corresponding joints, the method further includes determining a second target position and orientation of the second movable arm based on the second recommended target joint value and the other target joint values.

[0098] 9. A control method as described in paragraph 7 or 8, Based on the target position and orientation of the first end and the adjusted first recommended target joint values, other target joint values ​​of the first movable arm may be identified, or The further includes identifying other target joint values ​​of the second movable arm based on the target positional orientation of the second end and the adjusted second recommended target joint values.

[0099] 10. A control method described in any one of paragraphs 6 to 9, To determine whether or not there is an interference relationship between the second moving arm and the first moving arm, The method further includes adjusting the first recommended target joint value or the second recommended target joint value in response to a determination that there is an interference relationship between the second movement arm and the first movement arm.

[0100] 11. A control method described in any one of paragraphs 6 to 10, The first characteristic joint is a joint among the multiple joints of the first movable arm that is prone to collision with other movable arms, or The second characteristic joint is one of the multiple joints of the second movable arm that is prone to collision with other movable arms.

[0101] 12. A control method described in any one of paragraphs 1 to 11, Based on the constraint relationship, it is determined whether or not there is an interference relationship between the first moving arm and the second moving arm, The system further includes, in response to determining that an interference relationship exists between the first and second moving arms, controlling the movement of the first and second moving arms to stop or issuing an alarm.

[0102] 13. The control method described in paragraph 12, wherein determining whether or not there is an interference relationship between the first moving arm and the second moving arm is: Based on the satisfaction of the constraint relationship, it is determined that there is no interference relationship between the first moving arm and the second moving arm, This includes determining that an interference relationship exists between the first moving arm and the second moving arm based on the failure to satisfy the aforementioned constraint relationship.

[0103] 14. The control method described in paragraph 13, wherein the constraint relationship is The relative positional order relationship between the first moving arm and the second moving arm conforms to a predetermined relative positional order relationship, The distance between a predetermined point related to the first moving arm and a predetermined point related to the second moving arm is greater than a predetermined safety distance, The minimum distance between a predetermined line segment related to the first moving arm and a predetermined line segment related to the second moving arm is greater than a predetermined safety line segment distance, This includes either the following: the difference between the joint value of one or more joints of the first movable arm and the joint value of the corresponding joint of the second movable arm is greater than a predetermined safety value.

[0104] 15. A control method described in any one of paragraphs 1 to 14, This includes identifying the first motion path of the first motion arm and the second motion path of the second motion arm based on an interpolation method.

[0105] 16. A control method according to paragraph 15, wherein for each moving arm, the joint stride length of each joint included in the moving arm is determined based on the target position and initial position of the moving arm.

[0106] 17. A control method described in paragraph 16, wherein for each moving arm, the end position and orientation of the moving arm in each movement cycle is determined based on the joint stride length of each joint included in the moving arm. The motion path of the motion arm is determined based on the end position and orientation of each motion cycle.

[0107] 18. A control method according to any one of paragraphs 1 to 17, wherein the overall motion includes an overall translation, an overall rotation, or a combination of an overall translation and an overall rotation.

[0108] 19. A robotic system, The first moving arm and The second moving arm, Multiple motion arms, The system comprises a control device arranged to perform the control method described in any one of paragraphs 1 to 18.

[0109] 20. A robot system as described in paragraph 19, the robot system further comprising an auxiliary connecting device, the auxiliary connecting device comprising at least a first sheath tube for connection to the first end, and a second sheath tube for connection to the second end, The aforementioned relative positional relationship of the ends is determined based on the shapes of the first sheath tube and the second sheath tube and their relative positional relationship.

[0110] 21. The robot system described in paragraph 20, wherein the first sheath tube is provided with a first auxiliary connecting portion, and the second sheath tube is provided with a second auxiliary connecting portion. The end of the first moving arm is provided with a first arm body connection part for connecting to the first auxiliary connection part, and the end of the second moving arm is provided with a second arm body connection part for connecting to the second auxiliary connection part.

[0111] 22. A computer-readable storage medium for storing one or more instructions to be executed by a processor in order to perform the control method described in any one of paragraphs 1 to 18.

[0112] 23. A computer system, Memory for storing at least one instruction, The system comprises a processor configured to execute the at least one instruction in order to perform the control method described in any one of paragraphs 1 to 18.

[0113] The foregoing is merely an exemplary embodiment of the present disclosure and applicable technical principles. As those skilled in the art will see, the present disclosure is not limited to the specific embodiments set forth herein, and various explicit modifications, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. For this reason, although the present disclosure has been described in detail by the above embodiments, the present disclosure is not limited to the above embodiments and may include other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the appended claims.

Claims

1. A control method for a surgical robot system, wherein the surgical robot system comprises a plurality of motion arms including a first and a second motion arm, and the control method is The control device The system receives user operation commands including a motion method and a range of motion such that the first end of the first moving arm and the second end of the second moving arm move in such a way that they maintain a constant relative positional relationship between their ends. Here, the range of motion is the distance traveled, the angle of rotation, or a combination thereof. Based on the motion method, the range of motion, and the relative positional relationship of the end, the first motion path of the first motion arm and the second motion path of the second motion arm are identified. This includes controlling the motion of the first and second motion arms based on the first and second motion paths so that the first end of the first motion arm and the second end of the second motion arm maintain a constant relative positional relationship between their ends during motion, Based on the motion method, the range of motion, and the relative positional relationship of the end, the first motion path of the first motion arm and the second motion path of the second motion arm can be determined as follows: Based on the motion method and the range of motion, the target position and orientation of the first end of the first motion arm is determined, Based on the first current position and orientation of the first moving arm and the target position and orientation of the first end, the first target position and orientation of the first moving arm is determined. Based on the first current position and the first target position of the first moving arm, a first motion path of the first moving arm is identified, Based on the target position and orientation of the first end and the relative position and orientation relationship of the end, the target position and orientation of the second end of the second moving arm is determined, Based on the second current position and orientation of the second moving arm and the target position and orientation of the second end, the second target position and orientation of the second moving arm is determined, This includes determining a second motion path for the second motion arm based on the second current position and second target position of the second motion arm, Based on the first current position and orientation of the first moving arm and the target position and orientation of the first end, determining the first target position and orientation of the first moving arm is: Selecting one of the multiple joints of the first movable arm as the first characteristic joint, Setting a first recommended target joint value for the first characteristic joint, This includes identifying other target joint values ​​of the first movable arm based on the target position and orientation of the first end and the first recommended target joint values, Based on the second current position and orientation of the second moving arm and the target position and orientation of the second end, determining the second target position and orientation of the second moving arm is: Selecting one of the multiple joints of the second movable arm as the second characteristic joint, Setting a second recommended target joint value for the second characteristic joint, This includes identifying other target joint values ​​of the second movable arm based on the target position and orientation of the second end and the second recommended target joint values. A control method for surgical robotic systems.

2. The control method according to claim 1, characterized in that the terminal relative position and orientation relationship is predetermined.

3. The target position and orientation of the first end is, The target position and target orientation of the end arm of the first moving arm, The target position and target orientation of the distal center of motion mechanism (RCM mechanism) of the first moving arm, The first motion arm includes either a target position and a target orientation of the end for connection to the auxiliary connecting device of the first motion arm, or The target position and orientation of the second end of the series is The target position and target orientation of the end arm of the second moving arm, The target position and target orientation of the distal center of motion mechanism (RCM mechanism) of the second moving arm, The control method according to claim 1, characterized in that it includes either a target position or a target orientation of the end of the second movable arm for connection to an auxiliary connecting device.

4. The control device is Determining whether the other target joint values ​​of the first moving arm are within the range of motion of the corresponding joint, The first recommended target joint value is adjusted to sequentially increase or decrease by a predetermined adjustment value depending on whether at least one of the other target joint values ​​of the first moving arm is not within the range of motion of the corresponding joint, and / or Determining whether the other target joint values ​​of the second moving arm are within the range of motion of the corresponding joint, The control method according to claim 1, further comprising adjusting the second recommended target joint value so as to sequentially increase or decrease by a predetermined adjustment value depending on whether at least one of the other target joint values ​​of the second moving arm is not within the range of motion of the corresponding joint.

5. The control device is Based on the target position and orientation of the first end and the adjusted first recommended target joint values, identify other target joint values ​​of the first movable arm, and / or The control method according to claim 4, further comprising identifying other target joint values ​​of the second movable arm based on the target position and orientation of the second end and the adjusted second recommended target joint values.

6. The control device is To determine whether or not there is a possibility of collision between the second moving arm and the first moving arm, The control method according to any one of claims 1, 4, or 5, further comprising adjusting the first recommended target joint value or the second recommended target joint value in response to a determination that there is a possibility of collision between the second moving arm and the first moving arm.

7. The first motion arm includes a plurality of first links connected in series in sequence, three of the plurality of first links located at the distal end of the first motion arm form the distal center of motion mechanism (RCM mechanism) of the first motion arm, and the first characteristic joint includes a joint located at the proximal or distal end of a first link connected to the distal center of motion mechanism (RCM mechanism) of the first motion arm, and / or, The control method according to any one of claims 1, 4 to 6, wherein the second movable arm includes a plurality of second links connected in series in order, three of the plurality of second links located at the distal end of the second movable arm form a distal motor center mechanism (RCM mechanism) of the second movable arm, and the second characteristic joint includes a joint located at the proximal or distal end of a second link connected to the distal motor center mechanism (RCM mechanism) of the second movable arm, among the plurality of joints of the second movable arm.

8. The control device is Based on the constraint relationship, it is determined whether or not there is a possibility of collision between the first moving arm and the second moving arm, The control method according to any one of claims 1 to 7, further comprising controlling the movement of the first and second moving arms to stop or transmitting alarm information in response to a determination that there is a possibility of collision between the first and second moving arms.

9. The aforementioned constraint relationship is, The distance between a predetermined point related to the first moving arm and a predetermined point related to the second moving arm is greater than a predetermined safety distance, The minimum distance between a predetermined line segment related to the first moving arm and a predetermined line segment related to the second moving arm is greater than a predetermined safety line segment distance, The control method according to claim 8, characterized in that it includes either of the following: the difference between the joint value of one or more joints of the first movable arm and the joint value of the corresponding joint of the second movable arm is greater than a predetermined safety value.

10. The control device is The control method according to any one of claims 1 to 9, characterized in that it includes identifying the first motion path of the first motion arm and the second motion path of the second motion arm based on an interpolation method.

11. For each moving arm, The control device Based on the target position and initial position of the moving arm, the difference between the target position and initial position of the moving arm is determined. Based on the difference in joint values ​​of each joint included in the moving arm, which is the difference between the target position and initial position of the moving arm, and the extreme values ​​of the joint stride length of each joint, the target number of joint steps for each joint is determined. The control method according to claim 10, further comprising identifying the joint stride length of each joint included in the moving arm based on the difference in joint values ​​of each joint and the target number of joint steps for each joint.

12. The control device is Based on the joint stride length of each joint included in the aforementioned moving arm, the final position and orientation of the arm in each movement cycle is determined. The control method according to claim 11, characterized in that the motion path of the motion arm is identified based on the end position orientation of each motion cycle.

13. The control method according to any one of claims 1 to 12, characterized in that the motion method includes translation of the first end of the first motion arm and the second end of the second motion arm so as to maintain a constant relative positional relationship between the ends, rotation of the first end of the first motion arm and the second end of the second motion arm so as to maintain a constant relative positional relationship between the ends, or a combination of translation and rotation of the first end of the first motion arm and the second end of the second motion arm so as to maintain a constant relative positional relationship between the ends.

14. A plurality of motion arms, including a first motion arm and a second motion arm, A control device configured to perform the control method described in any one of claims 1 to 13, A surgical robotic system equipped with [a specific feature / ability].

15. The surgical robot system further comprises an auxiliary connection device, the auxiliary connection device comprising at least a first sheath tube for connection to the first end and a second sheath tube for connection to the second end, The surgical robot system according to claim 14, characterized in that the terminal relative positional relationship is predetermined based on the shapes of the first sheath tube and the second sheath tube and the relative positional relationship between the first sheath tube and the second sheath tube.

16. The first sheath tube is provided with a first auxiliary connecting portion, and the second sheath tube is provided with a second auxiliary connecting portion. The surgical robot system according to claim 15, characterized in that the end of the first moving arm is provided with a first arm body connection part for connecting to the first auxiliary connection part, and the end of the second moving arm is provided with a second arm body connection part for connecting to the second auxiliary connection part.

17. A computer-readable storage medium for storing one or more commands executed by a processor to perform the control method according to any one of claims 1 to 13.

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