Surgical robot, control method and computer-readable storage medium

Abstract

The present application relates to a surgical robot, a control method and a computer-readable storage medium. The surgical robot comprises a master console, a slave operating apparatus and a control device, wherein the master console comprises an input device, the slave operating apparatus is configured to install a surgical instrument, and the input device is configured for manipulating the surgical instrument to move; and the input device comprises a plurality of joints and a handle, the handle being connected to the proximal joint among the plurality of joints. The control device is configured for: acquiring the position and speed of each joint of the input device; according to the position of each joint, determining the gravity compensation amount and the elastic force compensation amount of each joint, and according to the speed of each joint, determining the frictional force compensation amount of each joint; and applying the gravity compensation amount, the elastic force compensation amount and the frictional force compensation amount to an actuator corresponding to each joint. By means of the technical solution of the present application, gravity compensation, elastic force compensation and frictional force compensation are all performed on each joint, and the compensation effect is more comprehensive and accurate, thereby effectively improving the operation experience regarding the input device.

Description

Surgical robot, control method and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Intellectual Property Office on June 16, 2023, with application number 202310731863.5, and titled “A surgical robot, control method, and computer-readable storage medium”; and claims priority to the Chinese patent application filed with the China Intellectual Property Office on June 16, 2023, with application number 202310729621.2, and titled “A surgical robot, control method, and computer-readable storage medium”. Technical Field

[0002] The present application relates to the field of medical machinery technology, and in particular to a surgical robot, a control method, and a computer-readable storage medium. Background Art

[0003] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. With technological advancements, minimally invasive surgical robotic technology has matured and is widely used. Minimally invasive surgical robots typically consist of a master control console and slave operating devices. The master control console includes a handle, through which the surgeon sends control commands to the slave operating devices, controlling the surgical instruments on the slave operating devices to perform corresponding actions.

[0004] By compensating for torque on the joints connecting the handles when the doctor manipulates them, the doctor can avoid or mitigate arm fatigue caused by having to overcome additional resistance, such as gravity, and improve the doctor's operating experience. However, existing technologies primarily compensate for gravity without considering the effects of other resistances, resulting in unsatisfactory compensation.

[0005] Summary of the Invention

[0006] In response to the above technical problems, the present application provides a surgical robot, a control method and a computer-readable storage medium, which perform gravity compensation, elastic compensation and friction compensation on each joint respectively. The compensation effect is more comprehensive and accurate, effectively improving the operating experience of the input device.

[0007] To solve the above technical problems, the present application provides a surgical robot, comprising a master console, a slave operating device, and a control device. The master console includes an input device, the slave operating device is configured to mount a surgical instrument, the input device is used to manipulate the movement of the surgical instrument, the input device includes multiple joints, a handle, and an elastic force compensation mechanism, the handle being connected to the proximal joint of the multiple joints, the elastic force compensation mechanism being used to compensate for gravity on the input device, and the control device being configured to:

[0008] After establishing master-slave control between the master console and the slave operating device, obtaining a first position and a first velocity of each joint of the input device;

[0009] determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction compensation amount of each joint according to the first speed of each joint;

[0010] The gravity compensation amount, the elastic force compensation amount, and the friction force compensation amount are applied to the actuators corresponding to the joints.

[0011] In one embodiment, each joint has its own corresponding compensation model, which includes a gravity compensation model, an elastic force compensation model, and a friction compensation model. The compensation models of different joints are relatively independent.

[0012] In one embodiment, when determining the gravity compensation amount of each joint according to the first position of each joint, the control device is configured to:

[0013] Obtaining gravity compensation parameters of the gravity compensation model corresponding to each joint, wherein the gravity compensation parameters are determined based on the current of the actuator and the second position and the second velocity of each joint before establishing master-slave control between the master console and the slave operating device;

[0014] The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

[0015] In one embodiment, when determining the elastic force compensation amount of each joint according to the first position of each joint, the control device is configured to:

[0016] obtaining elastic force compensation parameters of the elastic force compensation model corresponding to each joint, wherein the elastic force compensation parameters are determined according to the second position and the current of the actuator before establishing master-slave control between the master console and the slave operating device;

[0017] The elastic force compensation amount of each joint is determined according to the first position of each joint and the elastic force compensation parameter.

[0018] In one embodiment, before determining the friction compensation amount of each joint according to the first speed of each joint, the control device is configured to:

[0019] Filtering is performed on the first velocity of each joint.

[0020] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0021] Obtaining the absolute value of the velocity of each joint at the current moment;

[0022] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0023] The first filtered velocity of each joint is determined according to the sign and the absolute value of the velocity of the joint.

[0024] In one embodiment, when determining the friction compensation amount of each joint according to the first speed of each joint, the control device is configured to:

[0025] determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0026] The friction compensation amount of each joint is determined according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0027] In one embodiment, when determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to:

[0028] Determine a Jacobian matrix of the posture of the input device at a current moment according to the first positions of the joints;

[0029] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0030] In one embodiment, when determining the friction compensation amount of each joint based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle, the control device is configured to:

[0031] determining a target friction force compensation amount according to the first speed of the joint;

[0032] determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0033] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0034] In one embodiment, the first adjustment coefficient is in a linear or nonlinear relationship with the velocity modulus of the handle, or the first adjustment coefficient is in a linear or nonlinear relationship with the linear velocity and angular velocity modulus of the handle.

[0035] In one embodiment, when determining the target compensation amount of friction force of each joint, the control device is configured to:

[0036] obtaining friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the second speed and the current of the actuator before establishing master-slave control between the master console and the slave operating device;

[0037] The target friction compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

[0038] In one embodiment, the control device is further configured to:

[0039] determining the linear velocity and angular velocity of the handle according to the first velocity of each joint;

[0040] Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0041] The damping amount is applied to the actuator corresponding to each of the joints.

[0042] In one embodiment, when determining the damping amount of each joint, the control device is configured to:

[0043] Determining the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping base amount of each joint according to the first velocity of each joint; and determining a second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle;

[0044] The damping base amount of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0045] In one embodiment, the second adjustment coefficient is linearly or nonlinearly related to the velocity modulus of the handle, or the second adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0046] In one embodiment, the control device is configured to:

[0047] Obtaining the sum of the gravity compensation amount, elastic force compensation amount, friction force compensation amount and damping amount of each joint as the target torque of each joint;

[0048] The target torque of each joint is applied to the actuator corresponding to each joint.

[0049] The present application also provides a control method for a surgical robot, the surgical robot comprising a main control console, a slave operating device, and a control device, the main control console comprising an input device, the slave operating device being configured to mount a surgical instrument, the input device being used to manipulate the movement of the surgical instrument, the input device comprising a plurality of joints, a handle, and an elastic force compensation mechanism, the handle being connected to the proximal joint of the plurality of joints, the elastic force compensation mechanism being used to perform gravity compensation on the input device, the control method comprising:

[0050] After establishing master-slave control between the master console and the slave operating device, obtaining the first position and first velocity of each joint of the input device,

[0051] determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction compensation amount of each joint according to the first velocity of each joint;

[0052] The gravity compensation amount, the elastic force compensation amount, and the friction force compensation amount are applied to the actuator corresponding to each joint.

[0053] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the surgical robot as described above are implemented.

[0054] The surgical robot, control method, and computer-readable storage medium of the present application include a main control console, a slave operating device, and a control device. The main control console includes an input device, the slave operating device is configured to install surgical instruments, and the input device is used to control the movement of the surgical instruments. The input device includes multiple joints and a handle, and the handle is connected to the most proximal joint of the multiple joints. The control device is configured to: obtain the first position and first speed of each joint of the input device; determine the gravity compensation and elasticity compensation of each joint based on the first position of each joint, and determine the friction compensation of each joint based on the first speed of each joint; and apply the gravity compensation, elasticity compensation, and friction compensation to the actuators corresponding to each joint. The technical solution of the present application performs gravity compensation, elasticity compensation, and friction compensation on each joint respectively, and the compensation effect is more comprehensive and accurate, effectively improving the operating experience of the input device. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG1 is a schematic structural diagram of a surgical robot according to an embodiment;

[0056] FIG2 is a schematic structural diagram of a main console according to an embodiment;

[0057] FIG3 is a schematic structural diagram of a slave operating device according to an embodiment;

[0058] FIG4 is a schematic structural diagram of a surgical instrument according to an embodiment;

[0059] FIG5 is a schematic structural diagram of an input device according to an embodiment;

[0060] FIG6 is a partial structural diagram of an input device according to an embodiment;

[0061] FIG7 (a) and (b) are schematic diagrams showing the relationship between the first adjustment coefficient and the linear velocity of the handle according to an embodiment;

[0062] FIG8 is a comparison diagram of the effects of joint velocity before and after filtering;

[0063] FIG9 (a) and (b) are schematic diagrams showing the relationship between the second adjustment coefficient and the linear velocity of the handle according to one embodiment;

[0064] FIG10 is a schematic flow chart of a method for controlling a surgical robot according to an embodiment;

[0065] FIG. 11 is another schematic flow chart of a method for controlling a surgical robot according to an embodiment. DETAILED DESCRIPTION

[0066] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0067] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are intended solely for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items. In the present invention, "each" includes one and more than two.

[0069] A surgical robot according to one embodiment of the present application is shown in FIG1 . The surgical robot includes a master console 20, a slave operating device 10, and a control device. The master console 20 is remotely connected to the slave operating device 10 via remote communication, and a surgeon S can remotely operate and control the slave operating device 10 on the master console 20. The master console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional stereoscopic images of the patient's body provided by the imaging system through the master console 20. By observing the three-dimensional images of the patient's body, the surgeon S controls the slave operating device 10 to perform relevant operations, such as performing surgery or acquiring images of the patient's body.

[0070] The operating device 10 includes multiple robotic arms 11. In one embodiment, the surgical robot also includes a gas insufflation device, a lumen assembly, and one or more cannulas (not shown). The lumen assembly fluidically connects the cannulas to the gas insufflation device. The one or more cannulas are connected to the distal ends of the multiple robotic arms 11 and are inserted into the body cavity of a patient P lying on an operating table T.

[0071] In one embodiment, surgeon S can control the operating mode of the gas insufflation device through the main console 20, for example, to inject gas from the gas source into the body cavity of patient P to form artificial pneumoperitoneum, or to extract gas from the body cavity of patient P. Assistant A installs the surgical instrument 40 on the robotic arm 11 or replaces the surgical instrument 40 from the robotic arm 11 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B form a basic surgical team. The surgical instrument 40 can be a surgical instrument such as an electric cauterizer, clamp, stapler, ultrasonic scalpel, etc. used to perform surgical operations, or an imaging device for acquiring images (such as an endoscope) or other surgical tools.

[0072] The master console 20 is also remotely connected to the electronic device cart 30, which is in turn remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generator, an image signal processing device, and the aforementioned gas insufflation device. In this embodiment, remote communication between the master console 20, the slave operating device 10, and the electronic device cart 30 is performed using wired Ethernet. However, remote communication is not limited to wired Ethernet and may also be performed using other wired methods, such as, but not limited to, serial ports, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0073] In one embodiment, as shown in FIG2 , the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 is used to display images captured by the imaging system. The armrest 22 is used to rest the operator's arms and / or hands, allowing the operator to more comfortably operate the input device 24. The observation device 21 is used to observe the images displayed on the display device 21. Depending on practical needs, the armrest 22 or the observation device 21 may be omitted, allowing direct observation. The operator controls the movement of surgical instruments on the slave operating device 10 by operating the input device 23. The control signal processing system 25 of the main console 20 processes the input signals from the input device 22 and issues control commands to the slave operating device 10. The slave operating device 10 responds to the control commands from the main console 20 and performs the corresponding operation. In some embodiments, the control signal processing system 25 may also be located within the slave operating device 10, for example, within its base. The control signal processing system 25 and the control device described above may be integrated into one device.

[0074] In some embodiments, as shown in FIG3 , a slave operating device 10 includes multiple robotic arms 11 and a controller 250. The multiple robotic arms 11 can have the same or different configurations, and multiple surgical instruments are mounted on the multiple robotic arms 11. Specifically, a first instrument 310, a second instrument 320, a third instrument 330, and an imaging device 340 among the multiple surgical instruments are detachably mounted on the multiple robotic arms 11. In other embodiments, the instruments and imaging devices among the multiple surgical instruments can be mounted on interchangeable robotic arms 11.

[0075] The controller 250 is configured to control the joint motion of the robotic arm 11 and the motion of the surgical instrument in response to control signals from the master console 20 or the slave operating device 10. The controller 250 can be disposed in the base of the slave operating device 10. In some embodiments, the controller 250 can also be disposed on each robotic arm 11. It will be understood that the controller 250 can also be disposed in the master console 20. In some embodiments, the controller 250 and the control signal processing system 25 are the same control device, or the controller 250 and the control signal processing system 25 are different control devices respectively disposed in the slave operating device 10 and the master console 20, or the controller 250 and the aforementioned control device can be the same device.

[0076] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a video image acquisition function (e.g., an instrument 40 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with image acquisition function includes an optical device of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 40 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on the video display device.

[0077] As shown in FIG4 , the instrument 40 includes an instrument box 41, a long shaft 42, and an end effector 43. The instrument 40 is detachably mounted on the distal end of the robotic arm 11 of the slave operating device 10. The instrument box 41 includes a transmission device (not shown in the figure). The transmission device includes a plurality of transmission units (e.g., winches). The transmission units are connected to the end effector 43 via a plurality of cables. The plurality of transmission units are respectively coupled to a plurality of drive units (e.g., motors) of the robotic arm 11 and driven by the drive units. The drive units receive control instructions from the control device and drive the transmission units to move according to the control instructions, thereby driving the end effector 43 to move. The control device can be set in the main console 20 or in the slave operating device 10. For example, the drive unit rotates the drive transmission unit to retract / pull the cable to control the movement of the end effector 43. End effector 43 is capable of performing multiple Cartesian degrees of freedom, such as translation (including lateral and / or longitudinal movement), pitch, and yaw. It is understood that translation and pitch, and translation and yaw, can move independently or simultaneously. End effector 43 is used to perform surgical procedures. Depending on the requirements of the surgical procedure, end effector 43 may be an electric cauterizer, clamp, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., wherein the camera or imaging device is used to obtain images of the human body.

[0078] Referring to Figures 5 and 6 , the input device 23 may include a connector 101, a base 12, an operating assembly 15, and at least one actuating arm. The connector 101, base 12, at least one actuating arm, and operating assembly 15 are rotatably connected in sequence. The end of the connector 101, distal from the base 12, is connected to a component of the master console 120. The operating assembly 15 is configured to receive user input and may include a handle 151. By grasping the handle 151, the user operates the input device 23 to transmit control commands to the slave operating device 10.

[0079] Among them, the number of driving arms can be determined according to actual execution requirements. For example, when the movement to be performed is relatively simple, only one driving arm can be selected, and one end of the driving arm is connected to the base 12, and the other end of the driving arm is connected to the operating component 15. For example, when the movement to be performed is more complex, two or more driving arms can be selected. The more driving arms there are, the higher the degree of freedom, and more complex operations can be performed.

[0080] This embodiment uses two drive arms as an example. The two drive arms are a first arm 13 and a second arm 14. The second arm 14 is rotationally connected to the first arm 13. The end of the first arm 13 distal to the second arm 14 is rotationally connected to the base 12. The end of the second arm 14 distal to the first arm 13 is rotationally connected to the operating assembly 15. The rotation of the first arm 13 and the second arm 14 provides the operating assembly 15 with at least two degrees of freedom.

[0081] In this embodiment, the base 12 rotates relative to the connector 101 along a first axis A1, the first arm 13 rotates relative to the base 12 along a second axis A2, and the second arm 14 rotates relative to the first arm 13 along a third axis A3. The first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 and the third axis A3 are parallel. Thus, the rotation of the base 12, the first arm 13, and the second arm 14 allows the operating assembly 15 to move in three-dimensional space.

[0082] As shown in FIG6 , the input device 23 may further include a first gravity compensation mechanism 200 connected between the base 12 and the first arm 13 to generate a moment in a first degree of freedom of rotation about the second axis A2 to balance the gravitational moment of the parallelogram mechanism. In some embodiments, the first gravity compensation mechanism 20 may include a first rotation mechanism 201 and a first elastic mechanism 202. The first rotation mechanism 201 may include multiple rotational components, which are distributed between the first mounting plate 123 of the base 12 and the first arm 13.

[0083] For ease of understanding, the first rotation mechanism 201 may include a first rotation portion and a second rotation portion. Exemplarily, the first rotation portion is disposed on the first mounting plate 123, and the second rotation portion is disposed on the arm turntable 132 of the first arm 13. The first elastic mechanism 202 is coupled between the body turntable of the base 12 and the first rotation mechanism 201 to generate a moment in the first degree of freedom that balances the gravitational moment of the parallelogram mechanism, allowing a user to easily drag the input device 23 in the first degree of freedom.

[0084] In this embodiment, when the operator operates the handle to control the movement of the surgical instrument, that is, after the master-slave control is established between the master console 20 and the slave operating device 10, the above-mentioned control device is further configured to:

[0085] Acquire a first position and a first velocity of each joint of the input device;

[0086] determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction compensation amount of each joint according to the first velocity of each joint;

[0087] Gravity compensation, elasticity compensation, and friction compensation are applied to the actuators corresponding to the joints.

[0088] The elastic force compensation is used to compensate for the spring force of the physical springs in the input device's mechanical structure, resolving the issue of mechanical springs compensating for gravity and being unable to compensate for arbitrary postures. By adding friction compensation to each joint, the user experience of the input device can be further enhanced. Thus, by performing gravity compensation, elastic force compensation, and friction compensation on each joint of the input device, the compensation effect can be improved.

[0089] In this embodiment, each joint has its own corresponding compensation model, including a gravity compensation model, an elastic force compensation model, and a friction compensation model. The compensation models for different joints are relatively independent. By establishing independent compensation models for each joint, all model parameters of the compensation model for each joint can be extracted, effectively eliminating redundant terms caused by coupling and invalid terms caused by special configurations, making the compensation model more accurate and requiring less computational effort.

[0090] In one embodiment, when determining the gravity compensation amount of each joint based on the first position of each joint, the control device is configured to:

[0091] Obtaining gravity compensation parameters of the gravity compensation model corresponding to each joint;

[0092] The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

[0093] In one embodiment, the gravity compensation model of the joint can be expressed as follows:

[0094] Among them, F grav,j is the weight of connecting rod j, is the Jacobian vector of joint i, τ grav,i is the moment of gravity of all links acting on joint i, n represents the degree of freedom of the main manipulator, H j is the component related to the joint angle, mj is the mass of the connecting rod, p 0,j is the position of the center of mass of the connecting rod. Thus, formula (2) can express that the force torque of the gravity of a single connecting rod in the joint coordinate system can be decomposed into the product of two components, namely the configuration component related to the joint position and the gravity parameter component related to the mass and center of mass. The gravity parameter component is determined when the gravity compensation model is established, that is, the gravity compensation parameter of the gravity compensation model.

[0095] In one embodiment, when determining the elastic force compensation amount of each joint according to the first position of each joint, the control device is configured to:

[0096] Obtaining elastic force compensation parameters of the elastic force compensation model corresponding to each joint;

[0097] The elasticity compensation amount of each joint is determined according to the first position of each joint and the elasticity compensation parameter.

[0098] In one embodiment, the elastic force compensation model of the joint can be expressed as follows: τ spring,i =a i cosθ i +b i sinθ i (3)

[0099] in, is the velocity of joint i. a i and b i It is a parameter related to the spring force and is determined when the elastic force compensation model is established.

[0100] In one embodiment, when determining the friction compensation amount of each joint according to the first speed of each joint, the control device is configured to:

[0101] determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0102] The friction compensation amount of each joint is determined according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0103] The linear velocity is the translational speed of the handle and is independent of the handle's posture. The angular velocity of the handle is the speed at which the handle's posture changes. By compensating friction at each joint, the operating experience of the input device can be improved. The amount of friction compensation is related to the first velocity of each joint and the linear velocity and / or angular velocity of the handle, allowing the friction compensation effect to adapt to different operating conditions of the input device and improve operational stability.

[0104] In one embodiment, when determining the linear velocity and / or angular velocity of the handle based on the first velocity of each joint, the control device is configured to:

[0105] Determine the Jacobian matrix of the posture of the input device at the current moment according to the first position of each joint;

[0106] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0107] Among them, the Jacobian matrix is ​​used to map the velocity of the joint space to the velocity of the operation space. The Jacobian matrix has m rows and n columns: m is the degree of freedom of the operation space (usually the input device has 6 degrees of freedom), and n is the degree of freedom of the joint space (or the number of joints).

[0108] In one embodiment, when determining the friction compensation amount for each joint based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle, the control device is configured to:

[0109] determining a target compensation amount of friction force according to a first velocity of the joint;

[0110] determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0111] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0112] Among them, after determining the target friction compensation amount of the joint, the target friction compensation amount is adaptively adjusted by using a first adjustment coefficient determined according to the linear velocity and / or angular velocity of the handle to determine the actual friction compensation amount for the joint, which can improve the adaptability and stability of the input device under different working conditions (such as fast operation or fine operation).

[0113] In one embodiment, when determining the target compensation amount of friction force of each joint, the control device is configured to:

[0114] Obtaining friction compensation parameters of the friction compensation model corresponding to each joint;

[0115] The target friction compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

[0116] In one embodiment, before establishing a master-slave control connection between the master console 20 and the slave operating device 10, the control device obtains the current of the actuator of the input device 23 and the second position and second speed of each joint; and determines the gravity compensation parameters of the gravity compensation model and the elasticity compensation parameters of the elasticity compensation model corresponding to each joint based on the second position of the joint and the current of the actuator; and determines the friction compensation parameters of the friction compensation model corresponding to each joint based on the second speed of each joint and the current of the actuator.

[0117] In one embodiment, before a master-slave control connection is established between the master console 20 and the slave operating device 10, the input device 23 can be automatically operated according to a pre-set excitation program. During the automatic operation of the input device 23, the control device obtains the current of the actuator and the second position and second speed of each joint. In one embodiment, before a master-slave control connection is established between the master console 20 and the slave operating device 10, the control device (second control device) used to obtain the current of the actuator and the second position and second speed of each joint is different from the control device used to obtain the first position and first speed of each joint of the input device after the master-slave control connection is established between the master console and the slave operating device. In one embodiment, the control device used to obtain the current of the actuator and the second position and second speed of each joint can be set on the surgical robot or can be an external device.

[0118] In one embodiment, the friction compensation model of each joint can be expressed as:

[0119] Among them, k fric is the first adjustment coefficient, Used to calculate the target compensation amount of friction force, is the velocity of joint i, k cou,i is the Coulomb friction coefficient of joint i, k vis,i is the viscous friction coefficient of joint i, k cou,i and k vis,i It is obtained in advance when establishing the friction compensation model of each joint. Therefore, the k of different joints is cou,i and k vis,i They can be the same or different, ensuring the independence of the friction compensation models of each joint and improving the accuracy of the friction compensation model.

[0120] In one embodiment, the first adjustment coefficient is in a linear or nonlinear relationship with the linear velocity modulus of the handle, which can be specifically expressed as follows: fric =f(|v|)(5)

[0121] By establishing a relationship between the first adjustment coefficient and the linear velocity modulus of the handle, the friction compensation amount can be adaptively adjusted according to the linear velocity of the handle. In different linear velocity ranges of the handle, adaptive friction compensation is performed on each joint, and the operating experience and operation accuracy will be effectively improved.

[0122] In one embodiment, as shown in FIG7 , when the linear velocity of the handle is less than a first threshold value, the first adjustment coefficient is a first fixed value. When the linear velocity of the handle is greater than the first threshold value and less than a second threshold value, the first adjustment coefficient increases as the linear velocity of the handle increases, wherein, as shown in FIG7 (a), the first adjustment coefficient may be linearly related to the linear velocity modulus of the handle, or as shown in FIG7 (b), the first adjustment coefficient may also be nonlinearly related to the linear velocity modulus of the handle. When the linear velocity of the handle is greater than the second threshold value, the first adjustment coefficient is a second fixed value. Based on the above relationship, when the operator is performing fast operations, the friction compensation amount can be increased to improve the lightness of the handle, making the handle more suitable for fast operations. When the operator is performing fine operations, the friction compensation amount can be reduced to improve the stability of the handle, making the handle more suitable for fine operations.

[0123] In one embodiment, the first adjustment coefficient may also be in a linear or nonlinear relationship with the angular velocity modulus of the handle. The relationship between the first adjustment coefficient and the angular velocity modulus of the handle can refer to the relationship shown in Figure 7 and will not be repeated here.

[0124] In one embodiment, the first adjustment coefficient can also be linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle. Specifically, the joints of the input device include multiple position joints for adjusting the position of the handle and multiple posture joints for adjusting the posture of the handle. The multiple position joints can be, for example, the base 12, the first arm 13, and the second arm 14 shown in Figure 6, and the multiple posture joints can be joints in the operating component 15. Among them, the first adjustment coefficients of the multiple position joints are associated with the linear velocity of the handle, and the first adjustment coefficients of the multiple posture joints are associated with the angular velocity of the handle. In this way, friction compensation can be made more accurate. The relationship between the first adjustment coefficients of the multiple position joints and the linear velocity of the handle, and the relationship between the first adjustment coefficients of the multiple posture joints and the angular velocity of the handle can refer to the relationship shown in Figure 7 and will not be repeated.

[0125] In one embodiment, to prevent the influence of noise when the joint velocity is close to zero, before determining the linear velocity and / or angular velocity of the handle based on the first velocity of each joint, the control device is configured to:

[0126] Filter the first velocity of each joint.

[0127] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0128] Get the absolute value of the velocity of each joint at the current moment;

[0129] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0130] A filtered first velocity of each joint is determined according to the sign and the absolute value of the velocity of the joint.

[0131] Specifically, the filtering function of joint velocity can be expressed as follows:

[0132] in, is the joint angular velocity at time k+1, threshold is the velocity threshold, η k is the symbol of the joint velocity at time k, η k+1 is the sign of the joint velocity at time k+1. Based on the above filtering function, the sign and absolute value of the joint velocity can be processed separately. When the absolute value of the joint velocity at the current moment is greater than the set threshold, the sign of the joint velocity remains consistent with the current moment; otherwise, it remains consistent with the previous moment. That is, when the absolute value of the joint velocity is less than the set threshold, the sign of the joint velocity remains unchanged, and the absolute value of the filtered velocity is the absolute value of the velocity at that moment. The filtering effect of the joint velocity is shown in Figure 8. Using this method can avoid the back-and-forth jump in the compensation direction caused by fluctuations in the joint velocity near zero.

[0133] In one embodiment, the compensation model of each joint further includes a damping model, and the control device is further configured to:

[0134] Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0135] Applies the damping amount to the actuator corresponding to each joint.

[0136] The damping amount is related to the linear velocity and angular velocity of the handle or to the first velocity of each joint and the linear velocity and / or angular velocity of the handle, so that the damping effect is adapted to different working conditions of the input device and the stability of the operation is improved.

[0137] In one embodiment, when determining the damping amount of each joint, the control device is configured to:

[0138] Determine the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determine the damping base amount of each joint according to the first velocity of each joint; determine a second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle;

[0139] The damping base amount of each joint is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0140] The linear velocity damping and angular velocity damping of the handle are calculated based on the linear velocity and angular velocity of the handle, and are mapped to the joint space of the input device to obtain the basic damping value of each joint. After determining the basic damping value of the joint, the basic damping value is adaptively adjusted using a second adjustment coefficient determined based on the linear velocity and / or angular velocity of the handle to determine the actual amount of damping applied to the joint. This can improve the adaptability and stability of the input device under different working conditions (such as fast operation or delicate operation).

[0141] In one embodiment, the damping model of each joint can be expressed as:

[0142] Among them, k damp is the second adjustment coefficient. ω is the angular velocity of the handle, v is the linear velocity of the handle, k ω and k v are the damping coefficients of angular velocity and linear velocity, J b is the Jacobian matrix of the input device, Used to calculate the damping base. Thus, the damping base of each joint is related to the linear velocity and angular velocity of the handle, making the calculation of the damping base more accurate.

[0143] Alternatively, the damping model of each joint can be expressed as:

[0144] in, is the velocity of joint i, so the damping base of each joint is related to the first velocity of each joint, which is easy to calculate.

[0145] In one embodiment, the second adjustment coefficient is linearly or nonlinearly related to the linear velocity modulus of the handle, and can be specifically expressed as follows: damp =g(|v|)(11)

[0146] By establishing a relationship between the second adjustment coefficient and the linear velocity and / or angular velocity of the handle, the damping amount can be adaptively adjusted according to the linear velocity and / or angular velocity of the handle. In different linear velocity and / or angular velocity ranges of the handle, damping is adaptively applied to each joint, and the operating experience and operation accuracy will be effectively improved.

[0147] In one embodiment, as shown in FIG9 , when the handle linear velocity is less than a third threshold, the second adjustment coefficient decreases as the handle linear velocity increases, wherein, as shown in FIG9 (a), the second adjustment coefficient has a linear relationship with the handle linear velocity modulus, or, as shown in FIG9 (b), the second adjustment coefficient has a nonlinear relationship with the handle linear velocity modulus. When the handle linear velocity is greater than the third threshold, the second adjustment coefficient is a third fixed value. Based on the above relationship, when the operator is performing fast operations, the damping amount can be reduced to increase the lightness of the handle, making the handle more suitable for fast operations. When the operator is performing delicate operations, the damping amount can be increased to improve the stability of the handle, making the handle more suitable for delicate operations.

[0148] In one embodiment, the second adjustment coefficient may also be in a linear or nonlinear relationship with the angular velocity modulus of the handle. The relationship between the second adjustment coefficient and the angular velocity modulus of the handle can refer to the relationship shown in Figure 9 and will not be repeated here.

[0149] In one embodiment, the second adjustment coefficient can also be linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle. Specifically, each joint of the input device includes a plurality of position joints for adjusting the position of the handle and a plurality of posture joints for adjusting the posture of the handle, wherein the second adjustment coefficients of the plurality of position joints are associated with the linear velocity of the handle, and the second adjustment coefficients of the plurality of posture joints are associated with the angular velocity of the handle. In this way, the friction compensation can be made more accurate. The relationship between the second adjustment coefficients of the plurality of position joints and the linear velocity of the handle, as well as the relationship between the second adjustment coefficients of the plurality of posture joints and the angular velocity of the handle can be referred to the relationship shown in FIG9 and will not be repeated here.

[0150] Combined with the relationship between the first adjustment coefficient and the second adjustment coefficient and the linear velocity and / or angular velocity of the handle, the friction compensation and damping amounts can be adaptively adjusted to improve the adaptability and stability of the input device under different working conditions. For example, when the operator is operating quickly, the friction compensation amount can be increased and the damping amount can be reduced, which can improve the lightness of the handle and make the handle more suitable for fast operation. When the operator is performing fine operation, the friction compensation amount can be reduced and the damping amount can be increased, which can improve the stability of the handle and make the handle more suitable for fine operation.

[0151] In one embodiment, the control device is configured to:

[0152] Obtain the sum of the gravity compensation, elastic force compensation, friction compensation and damping of each joint as the target torque of each joint;

[0153] The target torque of each joint is applied to the actuator corresponding to each joint.

[0154] By calculating the sum of each compensation amount and damping amount, the target torque of each joint is output to achieve torque compensation of the joint.

[0155] The technical solution of this application has the following technical effects:

[0156] 1. The torque compensation of each joint is achieved by pure control. Compared with the method of using counterweights or springs, it is more flexible and adaptable, and there is no need to adjust the mechanical structure before use;

[0157] 2. The compensation model is composed of the compensation models of each driving joint. The compensation model of a single joint includes the gravity compensation model, the elasticity compensation model and the friction compensation model, which is more accurate.

[0158] 3. Friction compensation is applied to each joint, and the amount of friction compensation is related to the speed of each joint and the linear and / or angular velocity of the controller, which can better improve the operating experience of the input device;

[0159] 4. Added adaptive damping adjustment, which works together with friction compensation to better improve the stability of the handle during use. By adaptively adjusting the friction compensation and damping according to the movement speed of the handle, it can not only ensure the lightness of the handle during fast operation, but also ensure the stability of the handle during delicate operation.

[0160] 5. Use the filter function of joint velocity to improve the stability of friction compensation.

[0161] The present application also provides a control method for a surgical robot, the surgical robot comprising a master console, a slave operating device, and a control device, the master console comprising an input device, the slave operating device being configured to mount a surgical instrument, the input device being used to manipulate the movement of the surgical instrument, the input device comprising a plurality of joints and a handle, the handle being connected to the proximal joint of the plurality of joints. As shown in FIG10 , the control method comprises:

[0162] Step S1, after establishing master-slave control between the master console and the slave operating device, obtaining a first position and a first velocity of each joint of the input device;

[0163] Step S2, determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction compensation amount of each joint according to the first speed of each joint;

[0164] In step S3 , the gravity compensation, the elastic force compensation, and the friction compensation are applied to the actuators corresponding to the joints.

[0165] In one embodiment, each joint has its own corresponding compensation model, which includes a gravity compensation model, an elastic force compensation model, and a friction compensation model. The compensation models of different joints are relatively independent.

[0166] In one embodiment, in step S2, determining the gravity compensation amount of each joint according to the first position of each joint includes:

[0167] Obtaining gravity compensation parameters of the gravity compensation model corresponding to each joint, wherein the gravity compensation parameters are determined based on the current of the actuator and the second position and the second velocity of each joint before establishing master-slave control between the master console and the slave operating device;

[0168] The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

[0169] In one embodiment, in step S2, determining the elastic force compensation amount of each joint according to the first position of each joint includes:

[0170] Obtaining elastic force compensation parameters of the elastic force compensation model corresponding to each joint, wherein the elastic force compensation parameters are determined based on the second position and the current of the actuator before establishing master-slave control between the master console and the slave operating device;

[0171] The elasticity compensation amount of each joint is determined according to the first position of each joint and the elasticity compensation parameter.

[0172] In one embodiment, before determining the friction compensation amount of each joint according to the first velocity of each joint, the method further includes:

[0173] Filter the first velocity of each joint.

[0174] In one embodiment, when filtering the first velocity of each joint, the control device is configured to:

[0175] Get the absolute value of the velocity of each joint at the current moment;

[0176] When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; when the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment;

[0177] A filtered first velocity of each joint is determined according to the sign and the absolute value of the velocity of the joint.

[0178] In one embodiment, as shown in FIG11 , in step S2, determining the friction compensation amount of each joint according to the first velocity of each joint includes:

[0179] Step S21, determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint;

[0180] Step S22 : determining the friction compensation amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle.

[0181] In one embodiment, determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint includes:

[0182] Determine the Jacobian matrix of the posture of the input device at the current moment according to the first position of each joint;

[0183] The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

[0184] In one embodiment, determining the friction compensation amount of each joint based on the first velocity of each joint and the linear velocity and / or angular velocity of the handle includes:

[0185] determining a target compensation amount of friction force according to a first velocity of the joint;

[0186] determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle;

[0187] The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

[0188] In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to the velocity modulus of the handle, or the first adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0189] In one embodiment, determining the target friction compensation amount of each joint includes:

[0190] Obtaining friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the second speed and the current of the actuator before establishing master-slave control between the master console and the slave operating device;

[0191] The target friction compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

[0192] In one embodiment, the method further comprises:

[0193] Determine the linear velocity and angular velocity of the handle according to the first velocity of each joint;

[0194] Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle;

[0195] Applies the damping amount to the actuator corresponding to each joint.

[0196] In one embodiment, determining the damping amount of each joint includes:

[0197] Determining a basic damping amount for each joint based on the linear velocity and angular velocity of the handle, or determining the basic damping amount for each joint based on the first velocity of each joint; and determining a second adjustment coefficient for the basic damping amount based on the linear velocity and / or angular velocity of the handle;

[0198] The damping base amount of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

[0199] In one embodiment, the second adjustment coefficient is linearly or nonlinearly related to the velocity modulus of the handle, or the second adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the handle.

[0200] In one embodiment, the method further comprises:

[0201] Obtain the sum of the gravity compensation, elastic force compensation, friction compensation and damping of each joint as the target torque of each joint;

[0202] The target torque of each joint is applied to the actuator corresponding to each joint.

[0203] The implementation process of the above steps is the same as the working process of the above control device, and will not be repeated here.

[0204] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the surgical robot as described above are implemented.

[0205] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0206] The various technical features of the above-mentioned embodiments and the combination of any technical features are universal, and are applicable not only to single-port surgical robots but also to multi-port surgical robots. Moreover, they neither affect nor limit their use in robotic arms with different configurations.

[0207] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that: The surgical robot comprises a main console, a slave operating device and a control device, wherein the main console comprises an input device, the slave operating device is configured to install a surgical instrument, the input device is used to control the movement of the surgical instrument, the input device comprises a plurality of joints, a handle and an elastic force compensation mechanism, the handle is connected to the most proximal joint of the plurality of joints, the elastic force compensation mechanism is used to perform gravity compensation on the input device, and the control device is configured to: After establishing master-slave control between the master console and the slave operating device, obtaining a first position and a first speed of each joint of the input device; Determining a gravity compensation amount and an elastic force compensation amount of each joint according to the first position of each joint, and determining a friction force compensation amount of each joint according to the first speed of each joint; The gravity compensation amount, the elastic force compensation amount and the friction force compensation amount are applied to the actuators corresponding to the joints.

2. The surgical robot according to claim 1, characterized in that: Each joint has its own corresponding compensation model, which includes a gravity compensation model, an elastic force compensation model and a friction force compensation model. The compensation models of different joints are relatively independent.

3. The surgical robot according to claim 1, characterized in that: When determining the gravity compensation amount of each joint according to the first position of each joint, the control device is configured to: Acquiring gravity compensation parameters of the gravity compensation model corresponding to each joint, wherein the gravity compensation parameters are determined according to the current of the actuator and the second position and the second speed of each joint before establishing master-slave control between the master console and the slave operating device; The gravity compensation amount of each joint is determined according to the first position of each joint and the gravity compensation parameter.

4. The surgical robot according to claim 3, characterized in that: When determining the elastic force compensation amount of each joint according to the first position of each joint, the control device is configured to: Acquiring elastic force compensation parameters of the elastic force compensation model corresponding to each joint, wherein the elastic force compensation parameters are determined according to the second position and the current of the actuator before establishing master-slave control between the master console and the slave operating device; The elastic force compensation amount of each joint is determined according to the first position of each joint and the elastic force compensation parameter.

5. The surgical robot according to claim 1, characterized in that: Before determining the friction force compensation amount of each joint according to the first speed of each joint, the control device is configured to: The first speed of each joint is filtered.

6. The surgical robot according to claim 5, characterized in that: When filtering the first speed of each joint, the control device is configured to: Obtaining the absolute value of the velocity of each joint at the current moment; When the absolute value of the joint velocity is greater than or equal to the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the current moment; When the absolute value of the joint velocity is less than the preset threshold, the sign of the joint velocity is consistent with the sign of the velocity at the previous moment; The first filtered velocity of each joint is determined according to the sign and the absolute value of the velocity of the joint.

7. The surgical robot according to claim 3, characterized in that: When determining the friction force compensation amount of each joint according to the first speed of each joint, the control device is configured to: Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint; The friction force compensation amount of each joint is determined according to the first speed of each joint and the linear speed and / or angular speed of the handle.

8. The surgical robot according to claim 7, characterized in that: When determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint, the control device is configured to: Determine a Jacobian matrix of the posture of the input device at the current moment according to the first positions of the joints; The linear velocity and / or angular velocity of the handle is determined according to the Jacobian matrix and the first velocity of each joint.

9. The surgical robot according to claim 7, characterized in that: When determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle, the control device is configured to: determining a target compensation amount of friction force according to a first speed of the joint; Determining a first adjustment coefficient of each joint according to the linear velocity and / or angular velocity of the handle; The friction force compensation amount is determined according to the first adjustment coefficient and the friction force target compensation amount.

10. The surgical robot according to claim 9, characterized in that: The first adjustment coefficient is in a linear or nonlinear relationship with the velocity modulus of the handle, or the first adjustment coefficient is in a linear or nonlinear relationship with the linear velocity and angular velocity modulus of the handle.

11. The surgical robot according to claim 9, characterized in that: When determining the target compensation amount of friction force of each joint, the control device is configured to: Acquiring friction compensation parameters of the friction compensation model corresponding to each joint, wherein the friction compensation parameters are determined according to the second speed and the current of the actuator before establishing master-slave control between the master console and the slave operating device; The friction target compensation amount of each joint is determined according to the first speed of each joint and the friction compensation parameter.

12. The surgical robot according to any one of claims 1 to 11, characterized in that: The control device is also configured to: Determining the linear velocity and angular velocity of the handle according to the first velocity of each joint; Determining the damping amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping amount of each joint according to the first velocity of each joint and the linear velocity and / or angular velocity of the handle; The damping amount is applied to the actuator corresponding to each of the joints.

13. The surgical robot according to claim 12, characterized in that: When determining the damping amount of each joint, the control device is configured to: Determining the damping base amount of each joint according to the linear velocity and angular velocity of the handle, or determining the damping base amount of each joint according to the first velocity of each joint; and determining a second adjustment coefficient of the damping base amount according to the linear velocity and / or angular velocity of the handle; The damping base amount of the handle is adjusted according to the second adjustment coefficient to obtain the damping amount of each joint.

14. The surgical robot according to claim 13, characterized in that: The second adjustment coefficient is in a linear or nonlinear relationship with the velocity modulus of the handle, or the second adjustment coefficient is in a linear or nonlinear relationship with the linear velocity and angular velocity modulus of the handle.

15. The surgical robot according to claim 12, characterized in that: The control device is configured to: Obtaining the sum of the gravity compensation amount, elastic force compensation amount, friction force compensation amount and damping amount of each joint as the target torque of each joint; The target torque of each joint is applied to the actuator corresponding to each joint.

16. A surgical robot, characterized in that: The surgical robot comprises a main console, a slave operating device and a control device, wherein the main console comprises an input device, the slave operating device is configured to install a surgical instrument, the input device is used to control the movement of the surgical instrument, the input device comprises a plurality of joints and a handle, the handle is connected to the most proximal joint of the plurality of joints, and the control device is configured to: After establishing master-slave control between the master control console and the slave operating device, obtaining a first speed of each joint of the input device; Determining the linear velocity and / or angular velocity of the handle according to the first velocity of each joint; Determining the friction force compensation amount of each joint according to the first speed of each joint and the linear speed and / or angular speed of the handle; The friction force compensation amount is applied to the actuator corresponding to each of the joints.

17. A method for controlling a surgical robot, characterized in that: The surgical robot comprises a main control console, a slave operating device and a control device, the main control console comprises an input device, the slave operating device is configured to install a surgical instrument, the input device is used to control the movement of the surgical instrument, the input device comprises a plurality of joints, a handle and an elastic force compensation mechanism, the handle is connected to the most proximal joint of the plurality of joints, the elastic force compensation mechanism is used to perform gravity compensation on the input device, and the control method comprises: After establishing master-slave control between the master console and the slave operating device, obtaining the first position and the first speed of each joint of the input device, Determine the gravity compensation amount and elastic force compensation amount of each joint according to the first position of each joint, and determine the friction compensation amount of each joint according to the first speed of each joint; The gravity compensation amount, the elastic force compensation amount and the friction force compensation amount are applied to the actuators corresponding to the joints.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the control method of the surgical robot as claimed in claim 17 are implemented.

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