Surgical robot and computer-readable storage medium

Abstract

The present invention relates to a surgical robot and a computer-readable storage medium. The surgical robot comprises: an operation part provided with a joint assembly; manipulators for mounting medical instruments; and a controller used for: acquiring target poses of end effectors, and on the basis of each target pose, determining a target orientation of a corresponding end effector; when the deviation angle between the target orientation and an initial orientation exceeds an orientation motion boundary of the end effector, determining the direction of resistance imaginarily acting on the end effector; determining the resistance on the basis of the direction, the deviation angle, and the orientation motion boundary; on the basis of the resistance, determining target resistance actually acting on the end of the operation part; on the basis of the target resistance, determining joint target driving torque desired to be outputted by the joint assembly; and controlling the joint assembly to output the joint target driving torque. When the medical instruments exceed the motion boundary, force feedback having a prompting effect can be achieved on the operation part.

Description

Surgical robot, control method thereof, and computer-readable storage medium

[0001] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on August 29, 2023, with application number 202311093611.0 and application name “Surgical robot, control method thereof, and computer-readable storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical field of medical device operating methods, and in particular, to a surgical robot and a control method thereof, and a computer-readable storage medium. Background Art

[0003] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0004] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. A surgical robot consists of a master console and slave operating devices. The slave operating devices include multiple medical instruments with end effectors, including imaging instruments with imaging end effectors and surgical instruments with manipulation end effectors. The master console includes a display and an operating unit. The surgeon manipulates the operating unit to control the movement of the imaging instrument or surgical instrument, within the field of view provided by the imaging instrument displayed on the monitor.

[0005] However, since the range of motion of the operating part and the range of motion of the medical device are usually inconsistent, when one of the operating part and the medical device reaches the boundary of the motion range, in the out-of-bounds direction, its continued manipulation or being manipulated may easily lead to problems that endanger safety and reliability.

[0006] Summary of the Invention

[0007] Based on this, it is necessary to provide a surgical robot and its control method, and a computer-readable storage medium that can ensure safety and reliability.

[0008] In one aspect, the present disclosure provides a surgical robot, comprising:

[0009] An operating portion having a first joint assembly;

[0010] a manipulator for mounting a medical device and moving an end of the medical device to a first target posture in response to moving the operating portion to a second target posture, the medical device comprising a connecting rod, a wrist joint assembly, and an end effector as the end connected in sequence, the connecting rod providing the end effector with a rotational degree of freedom, the wrist joint assembly providing the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, the end effector having an orientation relative to a coordinate axis of the rotational degree of freedom, the orientation including an initial orientation when the connecting rod, the wrist joint assembly, and the end effector are arranged in a straight line; and

[0011] A controller, coupled to the operating portion and the manipulator, is configured to:

[0012] Acquiring the first target posture, and determining a target orientation of the end effector based on the first target posture;

[0013] When the deviation angle between the target orientation and the initial orientation exceeds the orientation movement boundary of the end effector, determining the direction of a first resistance force assumed to act on the end effector;

[0014] determining the first resistance based on the direction of the first resistance, the deviation angle, and the directional motion boundary;

[0015] determining a first target resistance actually acting on the end of the operating portion based on the first resistance, wherein the first resistance is used to hypothetically resist movement of the end effector toward at least one of the pitch degree of freedom and the yaw degree of freedom in the first target posture, and the first target resistance is used to actually resist movement of the end of the operating portion toward at least one of the pitch degree of freedom and the yaw degree of freedom in the second target posture;

[0016] determining a first joint target driving torque that the first joint component is expected to output based on the first target resistance;

[0017] controlling the first joint component to output the first joint target driving torque to implement force feedback on the operating part;

[0018] The first resistance, the first target resistance, and the first joint target driving force are generalized forces.

[0019] On the other hand, the present disclosure further provides a control method for a surgical robot, the surgical robot comprising:

[0020] An operating portion having a first joint assembly;

[0021] a manipulator for mounting a medical device and, in response to moving the operating portion to a second target posture, moving an end of the medical device to a first target posture, the medical device comprising a connecting rod, a wrist joint assembly, and an end effector as the end connected in sequence, the connecting rod providing the end effector with a rotational degree of freedom, the wrist joint assembly providing the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, the end effector having an orientation relative to a coordinate axis of the rotational degree of freedom, the orientation comprising an initial orientation when the connecting rod, the wrist joint assembly, and the end effector are arranged in a straight line;

[0022] The control method includes:

[0023] Acquiring the first target posture, and determining a target orientation of the end effector based on the first target posture;

[0024] When the deviation angle between the target orientation and the initial orientation exceeds the orientation movement boundary of the end effector, determining the direction of a first resistance force assumed to act on the end effector;

[0025] determining a magnitude of the first resistance based on the deviation angle and the directional motion boundary;

[0026] determining the first resistance based on the direction and magnitude of the first resistance;

[0027] determining a first target resistance actually acting on the end of the operating portion based on the first resistance, wherein the first resistance is used to hypothetically resist movement of the end effector toward at least one of the pitch degree of freedom and the yaw degree of freedom in the first target posture, and the first target resistance is used to actually resist movement of the end of the operating portion toward at least one of the pitch degree of freedom and the yaw degree of freedom in the second target posture;

[0028] determining a first joint target driving torque that the first joint component is expected to output based on the first target resistance;

[0029] controlling the first joint component to output the first joint target driving torque to implement force feedback on the operating part;

[0030] The first resistance, the first target resistance, and the first joint target driving force are generalized forces.

[0031] In one aspect, the present disclosure provides a surgical robot, comprising:

[0032] An operating portion having a first joint assembly;

[0033] a manipulator for mounting the medical device and for moving the distal end of the medical device to the first target posture in response to moving the operating portion to the second target posture; and

[0034] A controller, coupled to the operating portion and the manipulator, is configured to:

[0035] Acquire the first target posture and acquire the current posture of the end of the medical device;

[0036] When the current posture reaches the motion boundary of the end of the medical device and the first target posture exceeds the motion boundary, determining a first resistance imaginary acting on the end of the medical device based on the first target posture and the current posture, and determining a second resistance actually acting on the end of the operating portion based on the first resistance, the first resistance being used to imaginary resist the movement of the end of the medical device toward the first target posture, and the second resistance being used to actually resist the movement of the end of the operating portion toward the second target posture;

[0037] determining a joint target driving force that the first joint component is expected to output based on the second resistance;

[0038] controlling the first joint component to output the joint target driving force to implement force feedback on the operating part;

[0039] The first resistance, the second resistance, and the joint target driving force are generalized forces.

[0040] On the other hand, the present disclosure further provides a control method for a surgical robot, the surgical robot comprising:

[0041] an operating portion having a first joint assembly; and

[0042] a manipulator for mounting the medical device and for moving the distal end of the medical device to the first target posture in response to moving the operating portion to the second target posture;

[0043] The control method includes:

[0044] Acquire the first target posture and acquire the current posture of the end of the medical device;

[0045] When the current posture reaches the motion boundary of the end of the medical device and the first target posture exceeds the motion boundary, determining a first resistance imaginary acting on the end of the medical device based on the first target posture and the current posture, and determining a second resistance actually acting on the end of the operating portion based on the first resistance, the first resistance being used to imaginary resist the movement of the end of the medical device toward the first target posture, and the second resistance being used to actually resist the movement of the end of the operating portion toward the second target posture;

[0046] determining a joint target driving force that the first joint component is expected to output based on the second resistance;

[0047] controlling the first joint component to output the joint target driving force to implement force feedback on the operating part;

[0048] The first resistance, the second resistance, and the joint target driving force are generalized forces.

[0049] In one aspect, the present disclosure provides a surgical robot, comprising:

[0050] a first manipulator, mounted with and driving a first medical instrument, wherein the first manipulator has a first joint assembly;

[0051] a second manipulator, mounted with and driving a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument;

[0052] a main operating console, comprising an operating unit and a display, wherein the operating unit is configured to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to movement of the first manipulator relative to the second manipulator to a target posture; and

[0053] a controller coupled to the first manipulator, the second manipulator, and the operating portion, and configured to:

[0054] Acquire the first target posture of the end of the operating portion, and acquire the current posture of the end of the operating portion in the display coordinate system;

[0055] When the current posture reaches a motion boundary of the end of the operating portion and the first target posture exceeds the motion boundary, determining a first resistance imaginary acting on the end of the operating portion based on the first target posture and the current posture, and determining a second resistance actually acting on the end of the first manipulator based on the first resistance, the first resistance being used to imaginary resist the end of the operating portion from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture;

[0056] determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator;

[0057] The first resistance, the second resistance, and the joint target driving force are generalized forces.

[0058] On the other hand, the present disclosure further provides a method for controlling a surgical robot, the surgical robot comprising:

[0059] a first manipulator, mounted with and driving a first medical instrument, wherein the first manipulator has a first joint assembly;

[0060] a second manipulator, mounted with and driving a second medical instrument, wherein one of the first medical instrument and the second medical instrument is a surgical instrument and the other is an imaging instrument;

[0061] and a main operating console, comprising an operating unit and a display, wherein the operating unit is configured to cause the distal end of the surgical instrument to move to a second target posture in the endoscope coordinate system of the imaging instrument and to move to a first target posture in the display coordinate system of the display in response to the first manipulator moving relative to the second manipulator to a target posture;

[0062] The control method includes:

[0063] Acquire the first target posture of the end of the operating portion, and acquire the current posture of the end of the operating portion in the display coordinate system;

[0064] When the current posture reaches a motion boundary of the end of the operating portion and the first target posture exceeds the motion boundary, determining a first resistance imaginary acting on the end of the operating portion based on the first target posture and the current posture, and determining a second resistance actually acting on the end of the first manipulator based on the first resistance, the first resistance being used to imaginary resist the end of the operating portion from moving toward the first target posture, and the second resistance being used to actually resist the end of the first manipulator from moving toward the target posture;

[0065] determining a joint target driving force expected to be output by the first joint component based on the second resistance, and controlling the first joint component to output the joint target driving force to achieve force feedback on the first manipulator;

[0066] The first resistance, the second resistance, and the joint target driving force are generalized forces.

[0067] On the other hand, the present disclosure further provides a computer-readable storage medium, which stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the steps of the control method as described in any of the above embodiments.

[0068] The surgical robot, control method thereof, and computer-readable storage medium disclosed herein have the following beneficial effects:

[0069] When the end of the medical device exceeds the motion boundary, a virtual force is applied to the end and the virtual force is converted into a real force of the operating part, thereby controlling the joint component in the operating part to output a target joint driving force associated with the real force. In the case that there is no or cannot be a force sensor at the end of the medical device to sense the exceeding of the boundary, when the end of the medical device exceeds the motion boundary, the operator can have an obvious force sense at the operating part, that is, can feel the resistance caused by the end of the medical device exceeding its boundary, thereby avoiding excessive manipulation of the end of the medical device, which is conducive to ensuring safety and reliability; at the same time, since there is no need to set a force sensor at the end of the medical device, the cost can be reduced and the structure of the end can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] FIG1 is a schematic structural diagram of a slave operating device of an embodiment of a surgical robot disclosed herein;

[0071] FIG2 is a schematic structural diagram of a manipulator assembly of an embodiment of the slave operating device shown in FIG1 ;

[0072] FIG3 is a schematic structural diagram of a slave operating device of another embodiment of the surgical robot disclosed herein;

[0073] FIG4 is a schematic structural diagram of a main operating table of an embodiment of a surgical robot disclosed herein;

[0074] FIG5 is a schematic structural diagram of an operating unit of an embodiment of a main operating console disclosed herein;

[0075] FIG6 is a schematic diagram of a partial structure of an embodiment of the operating portion shown in FIG5 ;

[0076] 7 to 13 are flowcharts of an embodiment of a control method for a surgical robot disclosed herein;

[0077] FIG14 is a partial schematic diagram of an embodiment of a surgical robot disclosed herein in a surgical state;

[0078] FIG15 is a partial schematic diagram of another embodiment of the surgical robot disclosed herein in a surgical state;

[0079] FIG16 is a flow chart of an embodiment of a control method for a surgical robot disclosed herein;

[0080] 17 to 24 are schematic diagrams of an embodiment of a display interface related to an out-of-bounds section in a surgical robot disclosed herein;

[0081] FIG25 is a flow chart of an embodiment of a control method of a surgical robot disclosed herein;

[0082] FIG26 is a schematic diagram of an embodiment of a display interface related to an out-of-bounds section in the surgical robot of the present disclosure;

[0083] FIG27 is a flow chart of an embodiment of a control method of a surgical robot disclosed herein;

[0084] FIG28 is a schematic diagram of an embodiment of a display interface related to an out-of-bounds section in the surgical robot of the present disclosure;

[0085] 29 and 30 are flowcharts of an embodiment of a control method for a surgical robot disclosed herein;

[0086] FIG31 is a schematic structural diagram of a controller of a surgical robot according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0087] To facilitate understanding of the present disclosure, a more comprehensive description of the present disclosure will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present disclosure. However, the present disclosure can 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 disclosure.

[0088] 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 in this disclosure are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" (i.e., the end) and "proximal end" used in this disclosure are used as directional words, which are conventional terms in the field of interventional medical devices, wherein "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. The terms "first / second" and the like used in this disclosure can represent a component and two or more components of a class having common characteristics.

[0089] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the relevant listed items. The terms "each" and "a plurality" as used in this disclosure include one or more than two.

[0090] Surgical robots include various types, such as laparoscopic surgical robots suitable for thoracic and abdominal surgery, and endoscopic surgical robots suitable for natural orifice surgery, such as bronchial surgery. These types of surgical robots typically include two or more relatively independent arms with joint assemblies, where the movement of one arm can serve as input to control the associated movement of another arm. The control method disclosed herein is applicable to surgical robots having two or more arms, where the movement of one arm can cause the movement of another arm.

[0091] In some embodiments, a laparoscopic surgical robot includes a slave operating device and a master operating console that can operate the slave operating device. Different slave operating devices can be operated by a master operating console of the same structure or by master operating consoles of different structures. Therefore, the specific type of laparoscopic surgical robot is generally not distinguished based on the master operating console. However, the specific types of laparoscopic surgical robots can be distinguished based on the different structures of the slave operating devices. For example, a laparoscopic surgical robot corresponding to a slave operating device that has multiple medical instruments inserted into the patient's body through different surgical channels provided by the same puncture device connected to the patient can be called a single-port laparoscopic surgical robot. For another example, a laparoscopic surgical robot corresponding to a slave operating device that has multiple medical instruments inserted into the patient's body through surgical channels provided by multiple different puncture devices connected to the patient can be called a multi-port laparoscopic surgical robot. These medical instruments generally include imaging instruments and surgical instruments. The imaging instruments are used to provide a field of view, and the surgical instruments are used for surgical operations such as cutting and suturing.

[0092] Figure 1 illustrates a single-port laparoscopic surgical robot. As shown in Figure 1 , in the single-port laparoscopic surgical robot, a slave operating device 100 includes a drive arm, which includes a main arm 110 and a manipulator assembly 120 connected in sequence. Both arms have joint assemblies, allowing the main arm 110 to adjust at least one of the position and posture of the manipulator assembly 120. Referring to Figure 2 , the manipulator assembly 120 includes a housing 130 connected to the end of the main arm 110, a manipulator 140 housed within the housing 130, and a medical device 150 detachably mounted on the manipulator 140. Multiple manipulators 140 are housed within the housing 130 and connected in parallel to the end of the main arm 110 via the housing 130. Movement of the main arm 110 can cause the manipulators 140 to collectively move in at least one of the position and posture. Typically, the manipulator 140 includes at least one joint assembly to provide, for example, a degree of freedom of movement within the operating space to adjust the depth of insertion of the medical device 150 into the patient's body. Medical device 150 may include multiple devices, typically the same number as or less than the number of manipulators 140. Medical device 150 also includes multiple joint assemblies. Driven by manipulator 140, the joint assemblies of medical device 150 can provide multiple degrees of freedom in the operating space, enabling, for example, all degrees of freedom other than the feed degree of freedom, including horizontal translation, vertical translation, rotation, yaw, and pitch. The feed, horizontal, and vertical translation degrees of freedom are the three positional degrees of freedom in the operating space, while the rotation, yaw, and pitch degrees of freedom are the three posture degrees of freedom of the manipulator. In Figure 1, multiple medical devices 150 are inserted into a patient's body via the same puncture device 400.

[0093] FIG3 illustrates a multi-port laparoscopic surgical robot. As shown in FIG3 , in the multi-port laparoscopic surgical robot, a slave operating device 200 includes a driving arm, which includes a main arm 210, an adjustment arm 220, and a manipulator assembly 230 connected in sequence, all of which have joint assemblies. The adjustment arms 220 include multiple proximal ends connected to the distal end of the main arm 210. The distal end of the main arm 210 includes a directional platform 215, i.e., the proximal end of each adjustment arm 220 is connected to the directional platform 215. The main arm 210 can adjust at least one of the position and posture of the adjustment arm 220 and the manipulator assembly 230. The manipulator assembly 230 includes multiple manipulator assemblies, the same number as the adjustment arms 220. The proximal ends of the manipulator assemblies 230 are connected to the distal end of the adjustment arm 220, and the adjustment arm 220 can adjust at least one of the position and posture of the manipulator assembly 230. The manipulator assembly 230 includes a manipulator 240 and a medical device 250 detachably mounted on the manipulator 240, both of which include multiple joint assemblies. The manipulator 240 includes a parallelogram mechanism. Using the parallelogram principle, the manipulator 240 can be limited to perform rotational motion around a remote motion center (i.e., Remote Center, RC). The joint assembly of the manipulator 240 can include multiple degrees of freedom in the operating space, including feed degree of freedom, yaw degree of freedom, and pitch degree of freedom, and the yaw degree of freedom and pitch degree of freedom both perform rotational motion around RC. The joint assembly of the medical device 250 can provide multiple degrees of freedom in the operating space, including rotation degree of freedom, yaw degree of freedom, and pitch degree of freedom, under the drive of the manipulator 240. The feed degree of freedom of manipulator 240 adjusts the insertion depth of medical device 250 into the patient's body. The yaw and pitch degrees of freedom of manipulator 240 affect both the position and the posture of medical device 250. The rotation, yaw, and pitch degrees of freedom of medical device 250 primarily affect the posture of medical device 250, and their effect on the position of medical device 250 can be ignored. In Figure 2, multiple medical devices 250 are inserted into the patient's body using different puncture instruments 500.

[0094] In some embodiments, the master console 300 shown in FIG4 can be independently located from the slave operating device 100 shown in FIG1 or the slave operating device 200 shown in FIG2. They can be located in close proximity, such as within a few meters of each other in the same room, or they can be located in distant locations, such as in different cities thousands of kilometers apart.

[0095] Continuing with FIG4 , the main operating console 300 may include an operating unit 310 and a display. A main operating console 300 may include more than one operating unit 310 , for example, two. The operating unit 310 may include multiple joint assemblies. The operating unit 310 having multiple joint assemblies may be considered an arm of a surgical robot.

[0096] Referring to Figures 5 and 6 , the operating unit 310 may include a connector 101, a base 12, an operating assembly 15, and at least one drive arm. The connector 101, base 12, at least one drive arm, and operating assembly 15 are rotatably connected in sequence. The end of the connector 101, away from the base 12, is connected to the relevant components of the main operating console 300. The operating assembly 15 is configured to receive operations from the operator and may include a handle 151. The user grasps the handle 151 to perform relevant operations on the operating unit 310 to send control commands to the slave operating device 100 or the slave operating device 200. The end of the operating unit 310 mentioned in this disclosure may refer to, for example, the handle 151.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] As shown in FIG6 , the operating portion 310 may further include a first gravity compensation mechanism 200 connected between the base 12 and the first arm 13 to generate a moment in the 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 compensation 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.

[0101] For ease of understanding, the first rotation mechanism 201 may include a first rotating portion and a second rotating portion. Exemplarily, the first rotating portion is disposed on the first mounting plate 123, and the second rotating portion is disposed on the arm turntable 132 of the first arm 13. The first elastic compensation 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, enabling the user to easily drag the operating unit 310 in the first degree of freedom. In some embodiments, the endoscopic surgical robot may also include a master console and a slave operating device. The slave operating device includes two robotic arms and catheter instruments detachably mounted at the ends of the two robotic arms. The catheter instruments include an inner catheter instrument and an outer catheter instrument. The outer catheter instrument is mounted on one of the two robotic arms, and the inner catheter instrument is mounted on the other of the two robotic arms. During operation, the outer catheter instrument and the inner catheter instrument face the same direction, and the inner catheter instrument is inserted into the outer catheter instrument in the same direction for use.

[0102] In some embodiments, the surgical robot further includes a controller. For example, the controller may be deployed on the main operating console 300. For another example, the controller may be deployed on the slave operating device 100 (or 200). For another example, the controller may be deployed on the cloud. For another example, the controller includes a first controller and a second controller, the first controller is deployed on the main operating console 300, and the second controller is deployed on the slave operating device 100 (or 200); or, the first controller is deployed on the cloud, and the second controller is deployed on the main operating console 300 or the slave operating device 100 (or 200). For another example, the controller includes a first controller, a second controller, and a third controller, the first controller is deployed on the main operating console 300, the second controller is deployed on the slave operating device 100 (or 200), and the third controller is deployed on the cloud. Wherein, the controller includes one or more processors, and the control method disclosed herein, its multiple steps may be executed in one processor of the controller, or in multiple processors of the controller.

[0103] The controller can generally be coupled to any electrical component. For example, the controller can be coupled to the operating unit 310, the display, and the driving arm respectively. The controller is coupled to the driving arm, including coupling the controller to any arm in the driving arm.

[0104] The control method disclosed herein is applicable to a single-port laparoscopic surgical robot having two or more arms, wherein the movement of one arm can cause the movement of another arm. One arm is selected from the operating unit 310 of the main operating console 300, and the other arm is selected from at least a portion of the drive arm of the secondary operating device 100, such as the manipulator assembly 120, which includes the manipulator 140 and the medical instrument 150.

[0105] In a multi-port laparoscopic surgical robot, the control method involved in the present disclosure is not only applicable to one arm body being selected from the operating part 310 of the main operating table 300, and the other arm body being selected from at least part of the driving arm of the operating device 200, such as the manipulator assembly 230, including the manipulator 240 and the medical device 250; it is also applicable to the two arms being respectively selected from two parts of the driving arm of the operating device 200, such as two manipulator assemblies 230, and two adjustment arms 220 and their respective connected manipulator assemblies 230.

[0106] In an endoscopic surgical robot, the control method disclosed herein is applicable to at least parts of the two robotic arms selected from the slave operating device.

[0107] For example, in the aforementioned single-port or multi-port laparoscopic surgical robot, the operating unit 310 of the main operating console 300 can be configured to manipulate (i.e., control) the movement of any portion of the driving arm. Specifically, the driving arm can be configured to accept manipulation by the operating unit 310 based on surgical requirements. In some embodiments, the movement of any portion of the driving arm can also react to the operating unit 310, causing corresponding movement of the operating unit 310.

[0108] For example, in the aforementioned multi-port laparoscopic surgical robot, the driving arm of the slave manipulation device 200 can be configured to include two independent arms, where the manipulation (e.g., dragging) of one arm will cause the coordinated movement of the other arm. This configuration can also be applied to endoscopic surgical robots, where the manipulation of one arm will cause the coordinated movement of the other arm.

[0109] In some embodiments, for example, in a laparoscopic surgical robot, at least two operating modes can be configured, and the two operating modes include a master-slave following mode and a master-slave alignment mode. The master-slave following mode is mainly used for surgical operations during surgery, and refers to the operating unit 310 of the master console 300 outputting at least one of the position and posture instructions, and controlling the end of at least part of the arm body in the driving arm of the slave operating device 100 (or 200) to adjust at least one of the position and posture correspondingly based on at least one of the position and posture instructions. The master-slave alignment mode is mainly used in the preoperative preparation process to facilitate rapid entry into the master-slave following mode, and refers to at least part of the arm body in the driving arm of the slave operating device 100 (or 200) outputting a posture instruction associated with the posture of the end of the part of the arm body, and controlling the operating unit 310 of the master console 300 to adjust the posture based on the posture instruction to align with the posture of the end of the aforementioned part of the arm body, so as to eliminate the need to manually align the postures of the two, thereby facilitating intuitive operation by the operator. The end of at least part of the arm body in the driving arm can be made of any component of the driving arm. In one embodiment, the end can generally refer to the end of a medical device, more specifically, the end effector of the medical device.

[0110] Whether in the above-mentioned master-slave following mode or in the above-mentioned master-slave alignment mode, the present disclosure can define the arm that generates instructions such as position instructions and / or posture instructions through movement as the active arm, and define the arm that moves based on the instructions as the slave arm. Based on this, the purpose of at least one aspect of the control method of the present disclosure includes that when the operator controls the active arm to manipulate the movement of the slave arm, if the movement of the slave arm exceeds its corresponding movement boundary, force feedback is generated on the active arm to prompt the operator. This method does not require any force or torque sensor to be set on the slave arm to detect the resistance or resistance torque applied to the slave arm, and can also generate appropriate force feedback on the active arm.

[0111] The control method of the surgical robot disclosed in the present invention is illustrated below from the perspective of the operation mode.

[0112] In some embodiments, the control method of the present disclosure is applicable to both single-port laparoscopic surgical robots and multi-port laparoscopic surgical robots in a master-slave follower mode. In the master-slave follower mode, the operator typically manipulates the manipulator assembly 120 (or 230) to control the end effector of the medical device 150 (or 250).

[0113] In some embodiments, referring to FIG7 , the control method includes:

[0114] Step S101: Acquire a first current posture and a first target posture of the end of the medical device.

[0115] The current posture is the posture of the end of the medical device at the current moment, that is, the actual posture; the target posture, such as the first target posture, is the posture of the end of the medical device at the next moment.

[0116] The driving arm is provided with sensors for sensing joint variables of each joint assembly. For example, if the multiple joint assemblies of the driving arm include translational joint assemblies, the joint variables include joint displacement values; if the multiple joint assemblies of the driving arm include rotational joint assemblies, the joint variables include joint angle values.

[0117] The concept of "pose" is usually described in the action space, that is, Cartesian space or task space.

[0118] The first current pose can be obtained by sensing joint variables of joint components in the manipulator and the medical device and combining the joint variables with forward kinematics.

[0119] Teleoperation of a surgical robot can utilize incremental posture control. A first target posture of the end of the medical device can be determined based on a first current posture of the end of the medical device and a first incremental posture. The first incremental posture can be determined based on a second incremental posture between the second current posture of the operating portion and the second target posture. The second current posture and the first current posture are known, and when only variables are considered, it can be simply understood that the first target posture is determined based on the second target posture.

[0120] The incremental posture may include incremental position and incremental attitude. When incremental posture control is adopted, the incremental position may be scaled to ensure surgical safety, while the incremental attitude is not specially processed to maintain the tracking of the attitude.

[0121] Step S102 , detecting whether the first current posture reaches a motion boundary, and detecting whether the first target posture exceeds the motion boundary.

[0122] The tip of a medical device often has defined motion boundaries based on physical or software limitations.

[0123] When the first current posture reaches the motion boundary and the first target posture exceeds the motion boundary, step S103 is executed; otherwise, step S107 is executed.

[0124] Step S103 : determining a first resistance assumed to act on the distal end of the medical device based on the first target posture and the first current posture.

[0125] "Imaginary" means virtual, and also means not actually existing. Therefore, the first resistance is a virtual force used to hypothetically resist the movement of the distal end of the medical device toward the first target posture, i.e., it does not actually resist the movement of the distal end of the medical device toward the first target posture.

[0126] Step S104 : determining a second resistance actually acting on the distal end of the operating portion based on the first resistance.

[0127] The second resistance force is a real force that actually exists and will act on the end of the operating part, and is used to actually resist the movement of the end of the operating part toward the second target posture.

[0128] Step S105 : determining a target joint driving force output by a joint assembly in the desired operating part based on the second resistance.

[0129] In step S105, the joint target driving force can be determined by means of a statics equation. The statics equation is usually expressed as:

[0130] Where, τ represents the joint target driving force; The transpose of the Jacobian matrix representing the force of the operating part can be obtained by calculating the robot's kinematic Jacobian matrix J M Transpose to obtain the Jacobian matrix J M It can be determined in real time based on the joint variables of the joint components of the operating part; F represents the second resistance.

[0131] Step S106 , controlling the joint components in the operating unit to output the joint target driving force.

[0132] Typically, the joint assembly may include a drive motor as a drive mechanism. The drive motor has three control modes: position mode, velocity mode, and torque mode. In step S106, the torque mode is used to control the joint assembly to output a target joint drive force, thereby providing force feedback to the operating part and prompting the operator not to move the operating part toward the second target posture.

[0133] Step S107 : determining target joint variables of the joint components in the manipulator and the medical device based on the first target posture.

[0134] The target joint variables can be determined by means of inverse kinematics.

[0135] Step S108: Control the manipulator and the joint components in the medical device to output target joint variables.

[0136] In step S108, the position mode is used to control the joint component to output the target joint variable so as not to restrict the movement of the end of the medical device when the first current posture of the end of the medical device does not reach the motion boundary and / or the first target posture does not exceed the motion boundary.

[0137] Various forces involved in the present disclosure, such as the first resistance, the second resistance, and the joint target driving force, can all be generalized forces, which include at least one of force and torque.

[0138] In some embodiments, the motion boundary of the end of the medical device includes at least one of the position motion boundary and the posture motion boundary of the operating space. Correspondingly, the first current posture obtained includes at least one of the current position and the current posture, and the first target posture obtained includes at least one of the target position and the target posture. Among them, the position out-of-bounds problem and the posture out-of-bounds problem can be handled separately. For example, the position out-of-bounds refers to that one or more position degrees of freedom of the end of the medical device exceeds the position motion boundary jointly determined by the motion range of all position degrees of freedom of the manipulator assembly, and the posture out-of-bounds refers to that one or more posture degrees of freedom of the end of the medical device exceeds the posture motion boundary jointly determined by the motion range of all posture degrees of freedom of the manipulator assembly.

[0139] For example, for the position out-of-bounds problem, the above-mentioned step S102 may include detecting whether the current position reaches the position movement boundary, and detecting whether the target position exceeds the position movement boundary.

[0140] When the current position reaches the position movement boundary and the target position exceeds the position movement boundary, step S103 may further include controlling the end of the medical device to maintain the first current posture. By controlling the end of the medical device to maintain the first current posture, damage or safety issues caused by excessive manipulation of the manipulator and / or the medical device can be prevented.

[0141] In some embodiments, the step of controlling the distal end of the medical device to maintain the first current posture may include controlling the distal end of the medical device to maintain the current position.

[0142] In some embodiments, when the first current posture further includes the current posture and the target posture further includes the target posture, the step of controlling the end of the medical device to maintain the first current posture may include controlling the end of the medical device to maintain the current position and the current posture.

[0143] In some embodiments, when the current posture has not reached the motion boundary and / or the target posture has not exceeded the motion boundary, the step of controlling the end of the medical device to maintain the first current posture may also include controlling the end of the medical device to maintain the current position and controlling the end of the medical device to move according to the target posture so that the end of the medical device is always aligned with the posture of the operating part.

[0144] The aforementioned step S103, i.e., determining a first resistance assumed to act on the distal end of the medical device based on the first target posture and the first current posture, may include determining the first resistance assumed to act on the distal end of the medical device based on the target position and the current position. The method may include obtaining a first-position motion boundary impedance model, and determining the first resistance based on the target position, the current position, and the first-position motion boundary impedance model.

[0145] For another example, for the posture out-of-bounds problem, the above-mentioned step S102 may include detecting whether the current posture reaches the posture motion boundary, and detecting whether the target posture exceeds the posture motion boundary.

[0146] Wherein, when the current posture reaches the posture motion boundary and the target posture exceeds the posture motion boundary, the step of controlling the end of the medical device to maintain the first current posture may include controlling the end of the medical device to maintain the current posture.

[0147] In some embodiments, when the first current posture further includes the current position and the target posture further includes the target position, the step of controlling the end of the medical device to maintain the current posture may include controlling the end of the medical device to maintain the current posture and the current position.

[0148] In some embodiments, when the current posture has not reached the motion boundary and / or the target posture has not exceeded the motion boundary, the step of controlling the end of the medical device to maintain the current posture may also include controlling the end of the medical device to maintain the current posture and follow the target position movement, and only the posture needs to be adjusted subsequently.

[0149] The above-mentioned step S103 may include determining a first resistance imaginary acting on the distal end of the medical device based on the target posture and the current posture. The method may include obtaining a first posture motion boundary impedance model, and determining the first resistance based on the target posture, the current posture, and the first posture motion boundary impedance model.

[0150] In the above embodiment, when only the position out-of-bounds problem exists, the first resistance is only related to the position; when only the posture out-of-bounds problem exists, the first resistance is only related to the posture; when both the position and the posture are out of bounds, the first resistance can be a superposition of the resistance related to the position and the resistance related to the posture.

[0151] In some embodiments, the above-mentioned step S104 may include a conversion process of converting the first resistance from a first coordinate system of the end of the medical device to a second coordinate system of the end of the operating portion. The conversion process may include:

[0152] The first resistance of the end of the medical device in the first coordinate system is converted into a first intermediate resistance of the end of the medical device in the first intermediate coordinate system. The first intermediate resistance is an imaginary force, that is, a virtual force.

[0153] The second intermediate resistance of the end of the operating part in the second intermediate coordinate system is determined based on the first intermediate resistance of the end of the medical instrument in the first intermediate coordinate system. The second intermediate resistance is the actual force, that is, the real force.

[0154] The second intermediate resistance of the distal end of the operating portion in the second intermediate coordinate system is converted into a second resistance in the second coordinate system.

[0155] Exemplarily, the first coordinate system includes the base coordinate system of the medical device, for example, the base coordinate system of the medical device is configured to be the end face connected to the manipulator at the proximal end of the medical device; the first intermediate coordinate system exemplarily includes the tool coordinate system of the end effector in the imaging device, and the tool coordinate system of the end effector in the imaging device is sometimes also called the endoscope coordinate system, for example, the endoscope coordinate system is configured to be the distal face of the end effector in the imaging device; the second intermediate coordinate system exemplarily includes the display coordinate system, for example, the display coordinate system is configured to be on the display surface of the display; the second coordinate system exemplarily includes the base coordinate system of the operating part, for example, the base coordinate system of the operating part is configured to be at the position where the proximal end of the operating part is connected to the main operating console.

[0156] In master-slave operation mode, the second resistance obtained through the above-mentioned coordinate conversion process can provide the operator with intuitive force feedback during operation. The "intuitive" part includes that the movement direction of the end effector observed by the doctor on the display is consistent with the movement direction of the doctor's operating part, and the force direction of the end effector seen by the doctor in the operation image displayed on the display is basically consistent with the force direction felt by the doctor when operating the operating part, thus providing a near-intuitive visual and tactile experience.

[0157] In some embodiments, determining the second resistance actually applied to the distal end of the operating portion based on the first resistance may simply involve the aforementioned coordinate conversion process. That is, the second resistance determined from the first resistance may not undergo a resistance magnitude transformation; in other words, the second resistance may be the same magnitude as the first resistance.

[0158] In some embodiments, the magnitude of the second resistance may differ from the magnitude of the first resistance, including being completely different or partially different. That is, determining the second resistance actually acting on the distal end of the operating portion based on the first resistance may also include a resistance magnitude conversion process. The resistance magnitude conversion process primarily modifies the relatively gently varying first resistance into a more drastically varying second resistance, for example, to enhance the force sensation experienced by the operator.

[0159] In some embodiments, for the position out-of-bounds problem, the resistance magnitude transformation process may include: obtaining a second position motion boundary impedance model, and determining the second resistance based on the first resistance and the second position motion boundary impedance model.

[0160] Preferably, the second resistance determined by the second position motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first position motion boundary impedance model. The improvement includes at least a local increase in slope. For example, the improvement may include a local decrease in slope or a local increase in slope.

[0161] Exemplarily, the first position motion boundary impedance model is expressed as the following formula:

[0162] f=k(pp d ) (1)

[0163] In formula (1), f represents the first resistance; k represents the spring coefficient; p represents the current position of the end of the medical device, and it reaches the position movement boundary; p d represents the target position of the end of the medical device, and it exceeds the position motion boundary. Exemplarily, the value range of k is between [0,10].

[0164] Exemplarily, the second position motion boundary impedance model is expressed as the following formula:

[0165] In formula (2), f′ represents the second resistance; |f| represents the modulus of the first resistance; k f represents the spring coefficient; a represents the stiffness coefficient, reflecting the stiffness of the impedance model; f max represents the maximum resistance threshold of the second resistance, reflecting the strength of the impedance model. f (|f|) a Indicates the magnitude of the second resistance; Indicates the direction of the second resistance. In formula (2), f′ cannot be infinite, and the boundary of f′ passes through f max To limit, the constraints can be imposed based on the operator's force requirements for the operating part and the maximum driving force that the joint components in the operating part can provide.

[0166] For example, k f The value range of is between [0,10], the value range of a is between [0,5], and f max The value range is [0,5].

[0167] In some embodiments, for the posture out-of-bounds problem, the resistance magnitude transformation process may include: obtaining a second posture motion boundary impedance model, and determining the second resistance based on the first resistance and the second posture motion boundary impedance model.

[0168] Preferably, the second resistance determined by the second posture motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first posture motion boundary impedance model. The improvement includes at least a local increase in slope. For example, the improvement may include a local decrease in slope or a local increase in slope.

[0169] Exemplarily, the first posture motion boundary impedance model is expressed as the following formula:

[0170] m=(log (ΔR)) ∨ (3)

[0171] In formula (3), m represents the first resistance; ΔR represents the deviation between the target posture and the current posture; log(ΔR) represents an antisymmetric matrix; and ∨ represents an operator that converts an antisymmetric matrix into a vector. The deviation ΔR can be determined using the following formula.

[0172] In formula (4), R d Indicates the target posture; Represents R d The inverse of ; R represents the current posture, and it reaches the posture boundary.

[0173] Exemplarily, the second posture motion boundary impedance model is expressed as the following formula:

[0174] In formula (5), m′ represents the second resistance; |m| represents the modulus of the first resistance m; k m represents the spring coefficient; a represents the stiffness coefficient; m max Indicates the maximum resistance threshold of the second resistance. m |m| a Indicates the magnitude of the second resistance; Indicates the direction of the second resistance. In formula (5), m' cannot be infinite, and the boundary of m' passes through m max To limit, the constraints can be imposed based on the operator's force requirements for the operating part and the maximum driving force that the joint components in the operating part can provide.

[0175] For example, k m The value range of is between [0,10], the value range of a is between [0,5], and m max The value range is [0,1].

[0176] In some embodiments, the second resistance actually acting on the operating part includes a portion of the second resistance determined due to the position exceeding the position motion boundary and a portion of the second resistance determined due to the posture exceeding the posture motion boundary. In the above step S105, the portion of the second resistance determined due to the position exceeding the position motion boundary and the portion of the second resistance determined due to the posture exceeding the posture motion boundary can be superimposed to determine the second resistance actually acting on the operating part, and then the driving joint force of the joint assembly in the operating part is determined based on the second resistance obtained by the superposition. In the above step S105, a portion of the driving joint force of the joint assembly in the operating part can also be determined based on the portion of the second resistance determined due to the position exceeding the position motion boundary, and a portion of the driving joint force of the joint assembly in the operating part can be determined based on the portion of the second resistance determined due to the position exceeding the position motion boundary, and a portion of the driving joint force of the joint assembly in the operating part can be determined based on the portion of the second resistance determined due to the posture exceeding the posture motion boundary, and the two portions of the driving joint force can be superimposed to obtain the final driving joint force of the joint assembly in the operating part.

[0177] In some embodiments, in robotics, the operation space and the joint space can be converted into each other. For example, under the condition that the joint variables of the joint components of the manipulator and the medical device in the joint space are known, the position and posture of the end of the medical device in the operation space can be determined by combining forward kinematics; under the condition that the position and posture of the end of the medical device in the operation space are known, the joint variables of the joint components of the manipulator and the medical device in the joint space can be determined by combining inverse kinematics. It can be understood that the end of the medical device reaches the boundary in the first current posture of the operation space or exceeds the boundary in the first target posture, which can be mapped to one or some joint components of the manipulator and the medical device in the joint space reaching or exceeding the joint motion boundary of the corresponding joint components. Therefore, the present disclosure can also discuss the problem of the position and posture of the end of the medical device out of bounds based on the angle of the joint space.

[0178] In some embodiments, for the pose out-of-bounds problem, the above step S102 may include:

[0179] Target joint variables of the joint assembly of the manipulator and the medical instrument are determined based on the first target pose, and current joint variables of the joint assembly of the manipulator and the medical instrument are determined based on the first current pose.

[0180] A target joint component that meets a first condition is determined from the joint components of the manipulator and the medical instrument. The first condition includes that a current joint variable of the target joint component reaches a joint motion boundary of the target joint component and the target joint variable exceeds the joint motion boundary of the target joint component.

[0181] Among them, when there is a target joint component that meets the above-mentioned first condition, it indicates that it is detected in step S102 that the first current posture reaches the motion boundary and the first target posture exceeds the motion boundary.

[0182] Referring to FIG. 8 , the above-mentioned step S103 may include:

[0183] Step S1031 : Determine the joint driving force assumed to act on the target joint component based on the target joint variable and the current joint variable of the target joint component.

[0184] Step S1032 : assigning the joint driving force of the non-target joint components that do not meet the first condition in the joint components of the manipulator and the medical device to zero.

[0185] Step S1033 : determining a first resistance imaginary acting on the distal end of the medical device based on the joint driving force of the target joint component and the joint driving force of the non-target joint component.

[0186] In one embodiment, the implementation method of the above-mentioned step S1031 may include obtaining a joint boundary impedance model, and combining the target joint variables of the target joint component, the current joint variables, and the joint boundary impedance model to determine the joint driving force hypothetically acting on the target joint component.

[0187] Exemplarily, the joint boundary impedance model is expressed as the following formula:

[0188] In formula (6), τ i represents the joint driving force acting on the i-th target joint component; k represents the spring coefficient; a represents the stiffness coefficient; θ i,d represents the target joint variable of the i-th target joint component; θ i,max Represents the positive value of the joint motion boundary of the i-th target joint component (corresponding to the current joint variable when the target joint reaches the joint motion boundary); θ i,min Represents the negative value of the joint motion boundary of the i-th target joint component (corresponding to the current joint variable when the target joint reaches the joint motion boundary). For example, the value range of k is between [0, 10] and the value range of a is between [0, 5].

[0189] In the above step S1033, the joint driving forces of the manipulator and the joint assembly of the medical device can be combined into a force vector, which can be expressed in the following matrix form:

[0190] In formula (7), τ represents the force vector composed of the joint driving forces of the joint components of the manipulator and the medical device.

[0191] Then, by directly solving the inverse solution of statics, the first resistance of the end of the medical device in the operation space can be obtained based on the joint driving force of the joint assembly of the manipulator and the medical device in the joint space. The solution formula is expressed as:

[0192] In formula (8), F represents the first resistance of the end of the medical device in the operating space; the inverse of the transpose of the force Jacobian matrix representing the manipulator and the medical device; The transpose of the force Jacobian matrix representing the manipulator and the medical device can be obtained by calculating the kinematic Jacobian matrix J of the robot. S Transpose to obtain the Jacobian matrix J S The joint variables of the joint components of the manipulator and the medical device can be determined in real time.

[0193] In some embodiments, although both the single-port laparoscopic surgical robot and the multi-port laparoscopic surgical robot need to use manipulators and medical instruments when performing surgery. However, compared with the multi-port laparoscopic surgical robot, the single-port laparoscopic surgical robot usually relies more on the more degrees of freedom and larger range of motion provided by the medical instruments themselves to flexibly perform surgery. For example, the medical instruments of the single-port laparoscopic surgical robot usually include more joint components than the medical instruments of the multi-port laparoscopic surgical robot, which can provide more degrees of freedom and a larger range of motion. Therefore, preferably, when configuring the parameters of each of the above-mentioned motion boundary impedance models, at least one of the stiffness and strength of the single-port laparoscopic surgical robot can be configured to be correspondingly smaller than at least one of the corresponding stiffness and strength of the multi-port laparoscopic surgical robot, so as to provide the operator with a better sense of force.

[0194] In some embodiments, at least one of the type of surgical robot and the type of medical device can be identified. Whether the type of surgical robot or the type of medical device can reflect the extent of the range of motion of the medical device. The control method of the present disclosure can also utilize this feature to automatically recommend or configure parameters of various motion boundary impedance models for different types of surgical robots or medical devices. The control method of the present disclosure can also include:

[0195] Identify the type of surgical robot or medical device. Surgical robots include single-port laparoscopic surgical robots and multi-port laparoscopic surgical robots. Medical devices include those suitable for single-port laparoscopic surgical robots and those suitable for multi-port laparoscopic surgical robots.

[0196] When the identified surgical robot is a single-port laparoscopic surgical robot or the identified medical device is a medical device suitable for a single-port laparoscopic surgical robot, at least one of a stiffness coefficient of a first value and a maximum resistance threshold of a first value is recommended or configured for at least one motion boundary impedance model; when the identified surgical robot is a multi-port laparoscopic surgical robot or the identified medical device is a medical device suitable for a multi-port laparoscopic surgical robot, at least one of a stiffness coefficient of a second value and a maximum resistance threshold of a second value is recommended or configured for at least one motion boundary impedance model. The stiffness coefficient of the second value is generally greater than the stiffness coefficient of the first value, and the maximum resistance threshold of the second value is greater than the maximum resistance threshold of the first value.

[0197] This method for configuring parameters of the moving boundary impedance model is applicable, for example, to the aforementioned formulas (2), (5), and (6). For example, it can be applied to the determination of the stiffness coefficient and the maximum resistance threshold in formulas (2) and (5). For example, it can be applied to the determination of the stiffness coefficient in formula (6).

[0198] For example, for the above formula (2):

[0199] If the identified object is a multi-port laparoscopic surgical robot or a medical device suitable for a multi-port laparoscopic surgical robot, the stiffness coefficient a may be, for example, 1.5, and the maximum resistance threshold f max For example, the value may be 3N (or N / m). If the identified object is a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot, the stiffness coefficient a may be, for example, 1.2, and the maximum resistance threshold f max For example, the value can be 0.8N (or N / m). In addition, the spring coefficient k of the two f They can all take any appropriate value, for example, they can all take the value of 1.

[0200] For example, for the above formula (5):

[0201] If the identified object is a multi-port laparoscopic surgical robot or a medical device suitable for a multi-port laparoscopic surgical robot, the stiffness coefficient a may be, for example, 2, and the maximum resistance threshold m max For example, the value can be 3N / m (or N). If the identified device is a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot, the stiffness coefficient a can be, for example, 1.2, and the maximum resistance threshold m max For example, the value can be 0.8N / m (or N). In addition, the spring coefficient k of the two m Any appropriate value may be used, for example, 0.01.

[0202] For example, for the above formula (6):

[0203] If a multi-port laparoscopic surgical robot or a medical device suitable for a multi-port laparoscopic surgical robot is identified, the stiffness coefficient a may be, for example, 2. If a single-port laparoscopic surgical robot or a medical device suitable for a single-port laparoscopic surgical robot is identified, the stiffness coefficient a may be, for example, 1.2. Furthermore, the spring coefficient k for both may take any appropriate value, for example, 1.

[0204] In some embodiments, when determining the joint target driving force output by the joint component in the desired operating part in the above step S105, other forces expected to actually act on the operating part may be superimposed. This force may include one or more expected effects, and at the same time, this force is also a generalized force.

[0205] In one embodiment, the desired superimposed force may be a damping force, which is used to actually consume the potential energy accumulated when the second resistance acts on the end of the operating portion. Referring to FIG9 , the above step S105 may further include:

[0206] Step S1051 : Acquire the velocity of the distal end of the operating portion, and determine the damping force actually acting on the distal end of the operating portion based on the velocity.

[0207] The velocity is a generalized velocity and may include at least one of a linear velocity and an angular velocity. The damping force is a generalized force and may include at least one of a force and a torque.

[0208] Exemplarily, step S1051 includes obtaining at least one of a linear velocity and an angular velocity of the end of the operating portion; obtaining a damping force model; and determining a damping force by combining at least one of the linear velocity and the angular velocity and the damping force model. When the movement of the end of the operating portion includes a position change, the obtained velocity includes a linear velocity; and when the movement of the end of the operating portion includes a posture change, the obtained velocity includes an angular velocity. In one embodiment, the damping force model can be expressed as the following formula:

[0209] In formula (9), τ damp Represents the damping force at the end of the operating part; ω b represents the angular velocity of the end of the operating part; v b k represents the linear velocity of the end of the operating part; ω represents the angular velocity damping coefficient; k v Indicates linear velocity; represents the transpose of the kinematic Jacobian matrix of the operating part, where the kinematic Jacobian matrix J M The joint variables of the first joint component of the operating part are determined in real time.

[0210] Step S1052 : determining a target joint driving force output by the joint assembly of the desired operating part based on the second resistance and the damping force.

[0211] When the joint target driving force of the joint component in the operating part is controlled to output the associated damping force in step S106, it is possible to prevent rapid rebound or back-and-forth oscillation that may occur when the operating part is out of the operator's control, which is beneficial to ensuring the safety during the operation, because such rapid rebound or back-and-forth oscillation may cause unexpected movement of the medical device during master-slave following control.

[0212] In some embodiments, the desired superimposed force may also include a joint compensation driving force output by a joint assembly in the desired operating portion, the joint compensation driving force being used to balance the force generated by the internal load in the operating portion. Referring to FIG. 10 , the above step S105 may include:

[0213] Step S1054: obtaining the joint compensation driving force output by the joint assembly in the desired operating part.

[0214] Step S1055 : determining the joint target driving force output by the joint assembly in the desired operating part based on the second resistance and the joint compensation driving force.

[0215] Among them, the joint compensation driving force can be obtained by solving the inverse solution of statics to obtain the force acting on the end of the operating part due to the internal load, and then the second resistance and the force are used to obtain the joint target driving force using the statics equation. The second resistance can also be used to obtain the first joint target driving force using the statics equation, and the force is used to obtain the second joint target driving force using the statics equation, and then the first joint target driving force and the second joint target driving force are superimposed to obtain the actual desired joint target driving force. Of course, the aforementioned step S1052 can also be processed in the same way to obtain the desired joint target driving force.

[0216] In some embodiments, the joint compensation driving force may include at least one of gravity compensation and friction compensation. For example, both may be included simultaneously. By controlling the joint components of the operating unit to output a joint target driving force that correlates gravity and friction, the operator can operate the operating unit with greater ease and flexibility.

[0217] In some embodiments, the operating part further includes a handle and an elastic force compensation mechanism, wherein the handle is connected to the proximal joint assembly of the first joint assembly, and the elastic force compensation mechanism is used to provide elastic force to compensate for gravity of the operating part, so that the operator can overcome the influence of the gravitational torque caused by gravity without using force or with less force when operating the operating part. However, since the end position of the operating part changes in real time, the gravitational torque caused by gravity changes in real time, and the elastic force fixedly output by the elastic force compensation mechanism is usually not sufficient to compensate for the gravitational torque in real time. In order to ensure the operator's sense of force when operating the operating part, the elastic force compensation force can be output through the joint assembly in the operating part to offset the influence of the change in gravitational torque. Therefore, the joint compensation driving force may include an elastic force compensation force.

[0218] In some embodiments, the joint compensation driving force includes gravity compensation force, friction compensation force and elastic compensation force. Referring to FIG. 11 , the above step S1054 may include:

[0219] Step S1057, obtaining the position and velocity of each joint component in the operating part.

[0220] Step S1058, determining the gravity compensation force and elastic compensation force of each joint component according to the position of each joint component in the operating part, and determining the friction compensation force of each joint component according to the speed of each joint component in the operating part.

[0221] Step S1059 , determining the joint compensation driving force output by each joint component in the operating part based on the gravity compensation force, elastic compensation force and friction compensation force of each joint component in the operating part.

[0222] Exemplarily, the gravity compensation force, elastic compensation force and friction compensation force of each joint component in the operating part can be superimposed to obtain the joint compensation driving force of the corresponding joint component.

[0223] In some embodiments, each joint component in the operating portion 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 joint components are relatively independent.

[0224] In some embodiments, determining the gravity compensation force of each joint assembly according to the position of each joint assembly in the operating portion includes:

[0225] Obtaining gravity compensation parameters of the gravity compensation model corresponding to each joint component in the operating part;

[0226] The position of each joint component in the operating part and the gravity compensation parameter are used as inputs of the gravity compensation model corresponding to each joint component to determine the gravity compensation force of each joint component.

[0227] In some embodiments, determining the elastic compensation force of each joint assembly according to the position of each joint assembly in the operating portion includes:

[0228] Obtaining elastic force compensation parameters of an elastic force compensation model corresponding to each joint component in the operating part;

[0229] The position of each joint component in the operating part and the elasticity compensation parameter are used as inputs of the elasticity compensation model corresponding to each joint component to determine the elasticity compensation force of each joint component.

[0230] In some embodiments, determining the friction compensation force of each joint assembly according to the speed of each joint assembly in the operating part includes:

[0231] Determining the linear velocity and / or angular velocity of the end of the operating portion according to the velocity of each joint assembly in the operating portion;

[0232] The friction compensation force of each joint assembly is determined according to the speed of each joint assembly and the linear speed and / or angular speed of the distal end of the operating portion.

[0233] In one embodiment, determining the linear velocity and / or angular velocity of the end of the operating portion based on the velocity of each joint assembly in the operating portion includes:

[0234] Filtering the speed of each joint component in the operating part. Exemplarily, filtering the speed of each joint component in the operating part includes:

[0235] Get the absolute value of the velocity of each joint component in the operating part at the current moment;

[0236] When the absolute value of the velocity of the joint component is greater than or equal to the preset threshold, the sign of the velocity of the joint component is consistent with the sign of the velocity at the current moment; when the absolute value of the velocity of the joint component is less than the preset threshold, the sign of the velocity of the joint component is adjusted to be consistent with the sign of the velocity at the previous moment;

[0237] The filtered velocity of each joint component is determined according to the sign and the absolute value of the velocity of the joint component.

[0238] In one embodiment, determining the linear velocity and / or angular velocity of the end of the operating portion based on the velocity of each joint assembly in the operating portion includes:

[0239] Determine the Jacobian matrix of the posture of the operating part at the current moment according to the position of each joint component in the operating part;

[0240] The linear velocity and / or angular velocity of the end of the operating part is determined based on the Jacobian matrix and the velocity of each joint component.

[0241] In one embodiment, the friction compensation force of each joint assembly is determined based on the speed of each joint in the operating part and the linear speed and / or angular speed of the end of the operating part, including:

[0242] determining a friction target compensation force based on the velocity of the joint assembly;

[0243] determining a first adjustment coefficient of each joint component according to a linear velocity and / or an angular velocity of a distal end of the operating portion;

[0244] The friction compensation force is determined according to the first adjustment coefficient and the friction target compensation force.

[0245] In one embodiment, the first adjustment coefficient is linearly or nonlinearly related to the linear velocity modulus of the end of the operating portion, or the first adjustment coefficient is linearly or nonlinearly related to the linear velocity and angular velocity modulus of the end of the operating portion.

[0246] In one embodiment, the joint assembly in the operating part includes multiple position joint assemblies for adjusting the end position of the operating part and multiple posture joint assemblies for adjusting the end posture of the operating part. The first adjustment coefficient of the multiple position joint assemblies is associated with the linear velocity of the end of the operating part, and the first adjustment coefficient of the multiple posture joint assemblies is associated with the angular velocity of the end of the operating part.

[0247] In one embodiment, when the linear velocity of the end of the operating part is less than a first threshold value, the first adjustment coefficient is a first fixed value; when the linear velocity of the end of the operating part 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 end of the operating part increases; when the linear velocity of the end of the operating part is greater than the second threshold value, the first adjustment coefficient is a second fixed value.

[0248] In one embodiment, determining the friction target compensation force of each joint component includes:

[0249] Obtaining friction compensation parameters of the friction compensation model corresponding to each joint component;

[0250] The friction target compensation force of each joint component is determined according to the speed and friction compensation parameters of each joint component.

[0251] In some embodiments, the above step S105 may further include:

[0252] Obtaining a master-slave mapping control relationship between the operating unit and the medical device;

[0253] The joint target driving force output by the joint assembly in the desired operating part is determined based on the master-slave mapping control relationship and the second resistance.

[0254] The master-slave mapping relationship includes at least one of a position-to-position mapping relationship, a position-to-posture mapping relationship, a posture-to-posture mapping relationship, and a posture-to-position mapping relationship. Take the case of posture out of bounds as an example:

[0255] When the master-slave mapping relationship is a posture-to-posture mapping relationship, the force acting on the end of the medical device is assumed to be a torque in the generalized force, and the force actually acting between the ends of the operating part is also a torque in the generalized force.

[0256] When the master-slave mapping relationship is a posture-to-position mapping relationship, the force acting on the end of the medical device is assumed to be a torque in the generalized force, and the force actually acting between the ends of the operating part is also a force in the generalized force.

[0257] By determining the joint target driving force based on the master-slave mapping relationship, the accurate conversion of generalized force between the medical device and the operating part can be ensured, thereby ensuring a good experience for the operator when operating the operating part.

[0258] In some embodiments, in the master-slave following mode, the present disclosure also provides another control method, which is also applicable to single-port laparoscopic surgical robots and multi-port laparoscopic surgical robots.

[0259] In some embodiments, referring to FIG. 12 , the control method of the present disclosure includes:

[0260] Step S201: Acquire a first target posture of an end effector of a medical device.

[0261] Posture control generally also belongs to incremental control, and thus the first target posture is determined based on the acquired second target posture reached by the end of the moving operating part.

[0262] The medical device includes a connecting rod, a wrist joint assembly and an end effector connected in sequence, and the end effector is the end of the medical device.

[0263] Whether in a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, the rotation of the connecting rod can generally provide the end effector with a rotational degree of freedom; the wrist joint assembly can provide the end effector with multiple degrees of freedom, which can at least include a posture degree of freedom, and the posture degree of freedom included includes at least one of the yaw degree of freedom and the pitch degree of freedom, for example, including two. It is understandable that, with respect to the medical device alone, the posture degree of freedom of the end effector can be provided by both the connecting rod and the wrist joint assembly. Whether in a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, if the movement of the manipulator affects the posture of the end effector, the posture degree of freedom of the end effector can be provided by both the manipulator and the medical device, and if the movement of the manipulator does not affect the posture of the end effector, the posture degree of freedom of the end effector can be provided only by the medical device. For example, in the single-port laparoscopic robot shown in Figure 1, the posture freedom of the end effector is only provided by the connecting rod and wrist joint assembly in the medical device; for another example, in the multi-port laparoscopic robot shown in Figure 3, since the manipulator can perform pitch and yaw motion around the remote motion center, the posture freedom of the end effector can be provided by the manipulator, the connecting rod and wrist joint assembly in the medical device.

[0264] Step S202 : determining a target orientation of the end effector and a target rotation angle of the connecting rod based on the first target posture.

[0265] The end effector has a pointing orientation, which is related to the coordinate axis of the end effector's rotational degree of freedom, i.e., the rotation axis. For example, assuming the end effector includes three degrees of freedom: yaw, pitch, and rotation, a Cartesian coordinate system can be constructed on the end effector, with the X-axis being the rotation axis of the end effector's yaw degree of freedom, the Y-axis being the rotation axis of the end effector's pitch degree of freedom, and the Z-axis being the rotation axis of the end effector's rotational degree of freedom. The pointing orientation is defined as the direction of the Z-axis. Of course, if the end effector includes either yaw or pitch degrees of freedom, as well as rotation, the pointing orientation can also be defined as the direction of the Z-axis.

[0266] Pointing can generally be determined based on the degrees of freedom of the wrist assembly in a medical device. Pointing includes initial pointing and target pointing. Initial pointing refers to the pointing of the end effector in its initial state, which can refer to the pointing when the connecting rod, wrist assembly, and end effector in the medical device are arranged in a straight line. Target pointing refers to the pointing of the end effector in its first target posture. Methods for determining target pointing include:

[0267] Target joint variables of joint assemblies in the manipulator and the medical device are determined based on the first target pose. Then, a target orientation of the end effector is determined based on the target joint variables of joint assemblies in the wrist assembly associated with the yaw and pitch degrees of freedom. For example, when the wrist assembly has only the yaw degree of freedom or the pitch degree of freedom, the target orientation of the end effector is determined based on the target joint variables associated with the yaw or pitch degree of freedom. For another example, when the wrist assembly has both the yaw and pitch degrees of freedom, the target orientation of the end effector is determined based on the target joint variables associated with the yaw and pitch degrees of freedom.

[0268] Step S203 : detecting whether the deviation angle between the target pointing and the initial pointing exceeds the pointing motion boundary of the end effector.

[0269] The pointing motion boundary can refer to the maximum deviation angle between the current pointing and the initial pointing. The current pointing generally refers to the actual pointing of the end effector. The maximum deviation angle is the maximum current pointing deviation angle from the initial pointing. The maximum current pointing refers to the current pointing determined by the maximum range of motion that the end effector can achieve based on the posture degrees of freedom of the wrist joint assembly.

[0270] Since the initial orientation is known, when the wrist assembly only includes the yaw degree of freedom or the pitch degree of freedom, the maximum deviation angle is only related to the maximum current orientation determined by the yaw degree of freedom or the pitch degree of freedom.

[0271] Similarly, since the initial orientation is known, when the wrist joint assembly includes both the yaw degree of freedom and the pitch degree of freedom, the maximum deviation angle can be determined jointly based on a first maximum deviation angle between the yaw degree of freedom and the initial orientation, and based on a second maximum deviation angle between the pitch degree of freedom and the initial orientation. The first maximum deviation angle is associated with the maximum current orientation determined solely for the yaw degree of freedom, and the second maximum deviation angle is associated with the maximum current orientation determined solely for the yaw degree of freedom. The first maximum deviation angle may be the same as or different from the second deviation angle, depending primarily on the structural design of the wrist joint assembly. Exemplarily, when the first maximum deviation angle is the same as the second maximum deviation angle, either the first maximum deviation angle or the second maximum deviation angle may be configured as the maximum deviation angle. Exemplarily, when the first maximum deviation angle is different from the second maximum deviation angle, the relatively smaller one of the first maximum deviation angle and the second deviation angle can be configured as the maximum deviation angle. For example, the first maximum deviation angle is 80°, and the second maximum deviation angle is 90°. Usually, the first maximum deviation angle of 80° at this time is configured as the maximum deviation angle to serve as the directional motion boundary. In this way, the directional motion boundaries corresponding to different posture degrees of freedom can be made isotropic, so that the impedance boundary model has the advantage of regularity, which can simplify the calculation when the first resistance torque is determined subsequently based on step S204.

[0272] Step S204 : When the deviation angle between the target pointing and the initial pointing exceeds the pointing motion boundary of the end effector, the direction of the first resistance assumed to act on the end effector is determined.

[0273] The first resistance force is used to hypothetically resist the end effector from moving in the pitch degree of freedom and / or the yaw degree of freedom toward the first target posture.

[0274] Of course, when the deviation angle between the target pointing and the initial pointing exceeds the pointing motion boundary of the end of the medical device, the end effector can be rotated toward the target pointing without being subjected to the resistance acting on the pitch freedom and / or yaw freedom of the end effector as assumed.

[0275] In step S204 , the process may further include controlling the movement of the joint assembly in the manipulator and the medical device so that the deviation angle between the direction of the end effector and the initial direction reaches the direction movement boundary and maintains the current direction.

[0276] Step S205 : determining the first resistance based on the direction, deviation angle, and directional motion boundary of the first resistance.

[0277] Step S206 : determining a first target resistance actually acting on the distal end of the operating portion based on the first resistance.

[0278] The first target resistance is used to actually resist the movement of the distal end of the operating portion toward the pitch degree of freedom and / or the yaw degree of freedom in the second target posture.

[0279] Step S207 : determining a first joint target driving torque output by a joint component in the desired operating part based on the first target resistance.

[0280] Step S208: Control the joint component in the operating unit to output a first joint target driving torque.

[0281] Through step S208, force feedback can be implemented on the operating part, thereby prompting the operator not to move the operating part toward the second target posture, so as to actually resist the end of the operating part from moving, for example, toward the pitch degree of freedom and / or yaw degree of freedom in the second target posture.

[0282] Step S209 , detecting whether the target rotation angle exceeds the motion boundary of the rotational degree of freedom.

[0283] The motion boundary of the rotational degree of freedom refers to the motion (rotation) range of the rotational degree of freedom.

[0284] Step S210 : When the target rotation angle exceeds the motion boundary of the rotational degree of freedom, determining the direction of the second resistance force assumed to act on the end effector.

[0285] The second resistance is used to hypothetically resist the movement of the end effector toward the rotational degree of freedom in the first target posture.

[0286] Of course, when the target rotation angle does not exceed the motion boundary of the rotational degree of freedom, the connecting rod can be controlled to rotate the target rotation angle without being subjected to the resistance assumed to act on the end effector on the rotational degree of freedom.

[0287] In step S210 , the movement of the connecting rod in the medical device may also be controlled so that the rotation angle of the connecting rod reaches the movement limit of the rotational freedom degree and maintains the current rotation angle.

[0288] Step S211 : determining the second resistance based on the direction of the second resistance, the target rotation angle, and the motion boundary.

[0289] Step S212: determining a second target resistance actually acting on the distal end of the operating portion based on the second resistance.

[0290] The second target resistance is used to actually resist the movement of the distal end of the operating portion toward the rotational degree of freedom in the second target posture.

[0291] Steps S206 and S212 may include a conversion process for converting the corresponding torque from the first coordinate system of the end of the medical device to the second coordinate system of the end of the operating portion. For this conversion process, reference may be made to the conversion of the first resistance described above, and no further details will be given here.

[0292] Step S213 : determining a second joint target driving torque output by the joint assembly in the desired operating part based on the second target resistance.

[0293] In step S207 and step S213 , the target driving force of the corresponding joint can be determined by means of statics equations.

[0294] Step S214: Control the joint assembly in the operating unit to output a second joint target driving torque.

[0295] Through step S214 , force feedback can be implemented on the operating part, thereby prompting the operator not to move the operating part toward the second target posture, thereby actually resisting the end of the operating part from moving toward the rotational degree of freedom in the second posture.

[0296] In the above embodiment, in the above step S203 , if it is detected that the deviation angle between the target pointing and the initial pointing does not exceed the pointing motion boundary of the end effector, step S215 is executed.

[0297] Step S215: Control the end effector to move toward the target.

[0298] In the above embodiment, in the above step S209 , if it is detected that the target rotation angle does not exceed the motion boundary of the rotational degree of freedom, step S216 is executed.

[0299] Step S216: Control the connecting rod to move to reach the target rotation angle.

[0300] The above steps S203 to S208 and steps S209 to S214 can be executed sequentially or in parallel. For example, the two steps are executed in parallel.

[0301] In other embodiments, the first target resistance and the second target resistance can be superimposed, and the final joint target driving force output by the joint component in the desired operating part can be determined based on the two superimposed target resistances. Alternatively, the first joint target driving force and the second joint target driving force can be superimposed as the final joint target driving force output by the joint component in the desired operating part; then, the joint component in the operating part is controlled to output the final joint target driving force, which can also achieve the same effect.

[0302] The various resistances and driving forces mentioned above can all be generalized forces. For posture, usually, the various resistances and driving forces mentioned above are torques.

[0303] In some embodiments, the end of the medical device includes a position motion boundary in the operating space. Referring to FIG13 , the control method of the present disclosure may further include:

[0304] Step S220 , obtaining the target position of the end effector of the medical device, and obtaining the current position of the end effector of the medical device.

[0305] The target position can be obtained by analyzing the position command outputted by the movement of the operating unit, that is, the target position corresponds to the position command.

[0306] Step S221 , detecting whether the current position reaches the position movement boundary, and detecting whether the target position exceeds the position movement boundary.

[0307] The end effector includes a position motion boundary in the operating space.

[0308] When the current position reaches the movement boundary and the target position exceeds the position movement boundary, step S222 is executed; otherwise, step S226 is executed.

[0309] Step S222 : determining a first resistance assumed to act on the distal end of the medical device based on the target position and the current position.

[0310] Step S223 : determining a second resistance actually acting on the distal end of the operating portion based on the first resistance.

[0311] The first resistance and the second resistance are forces in a generalized sense.

[0312] Likewise, step S223 may at least include the aforementioned conversion process for converting the force coordinate system, which will not be described in detail here.

[0313] Step S224 : determining the target joint driving force output by the joint assembly in the desired operating part based on the second resistance.

[0314] Step S225 , controlling the joint components in the operating unit to output the joint target driving force.

[0315] In step S225 , the torque mode is adopted to control the joint assembly to output the joint target driving force, so as to realize force feedback on the operating part, thereby prompting the operator not to move the operating part to the position corresponding to the position instruction.

[0316] Step S226 , determining target joint variables of the joint components in the manipulator and the medical device based on the target position.

[0317] Step S227: Control the joint components in the manipulator and the medical device to output target joint variables.

[0318] In step S227, the position mode is used to control the joint component to output the target joint variable so as not to restrict the movement of the position freedom of the end of the medical device when the current position of the end of the medical device does not reach the position motion boundary and / or the target position does not exceed the position motion boundary.

[0319] In some embodiments, the above step S222 may further include controlling the end of the medical device to maintain a current position.

[0320] In some embodiments, the above-mentioned step S222, i.e., determining the first resistance imaginary acting on the end of the medical device based on the target position and the current position, can be obtained by referring to the above description, and can be obtained, for example, by referring to the above-mentioned formula (1). In some embodiments, the above-mentioned step S224, i.e., determining the second resistance actually acting on the end of the operating portion based on the first resistance, can also be obtained by referring to the above description, for example, this step can also include a resistance magnitude conversion process, which can be obtained, for example, by referring to the above-mentioned formula (2).

[0321] In step S204, the direction of the first resistance can be determined based on, for example, the target orientation and the current orientation of the end effector, and the initial orientation. The current orientation refers to the orientation of the end effector in the current posture. For example, the direction of the first resistance can be determined based on the target orientation and the initial orientation. For example, the first vector obtained by cross-producting the target orientation and the initial orientation can be used to obtain the modulus of the first vector, and the direction of the first resistance can be determined based on the first vector and the modulus of the first vector. For example, the expression formula for the first vector can be as follows:

[0322] m1=z d ×z0 (10)

[0323] In formula (10), m1 represents the first vector; z d Indicates the target direction; z0 indicates the initial direction. In step S205, a first directional motion boundary impedance model associated with the direction of the first resistance can be obtained, and then the first resistance can be determined based on the deviation angle, the directional motion boundary, and the first directional motion boundary impedance model. The first directional motion boundary impedance model can be expressed as:

[0324] In formula (11), m1′ represents the first resistance; k 1,m represents the spring coefficient; θ1 represents the deviation angle; θ 1,max Indicates the direction of the movement boundary; m 1,max Indicates the maximum resistance torque threshold of the first resistance; Indicates the direction of the first resistance.

[0325] In step S210, for example, a second vector may be obtained based on a sign function of the target rotation angle and the target orientation, a modulus of the second vector may be obtained, and the direction of the second resistance may be determined based on the second vector and the modulus of the second vector. For example, the second vector may be expressed as follows:

[0326] m2=-sign(θ 2,d )z d (12)

[0327] In formula (12), m2 represents the second vector; -sign() represents the sign function; θ 2,d Indicates the target rotation angle; z d Indicates target direction. That is, it indicates the direction of the second resistance.

[0328] In step S211, a second directional motion boundary impedance model associated with the direction of the second resistance can be obtained, and then the second resistance can be determined based on the target rotation angle, the motion boundary, and the second directional motion boundary impedance model. The second directional motion boundary impedance model can be expressed as:

[0329] In formula (13), m2′ represents the second resistance; |θ 2,d | represents the absolute value of the target rotation angle; θ 2,max represents the motion boundary of the rotational degree of freedom; k 2,m Indicates the spring coefficient; m 2,max Indicates the maximum resistance torque threshold of the second resistance; Indicates the direction of the second resistance.

[0330] In some embodiments, in the above-mentioned step S207 or step S213 or step S224, other forces that are expected to actually act on the operating part may be superimposed. This force may include one or more expected effects. At the same time, this force is also a generalized force. Exemplarily, the forces expected to be superimposed include but are not limited to damping forces, and / or joint compensation driving forces for balancing the forces generated by the internal loads in the operating part. Exemplarily, the joint compensation driving forces may include at least one of gravity compensation forces, friction compensation forces, and elastic compensation forces. For these forces that may be superimposed, please refer to the above text and will not be repeated here.

[0331] In some embodiments, the control method disclosed herein is particularly suitable for use scenarios where the rotation range of the rotation degree of freedom is greater than or equal to 360°, and the rotation range of the pitch degree of freedom and / or the yaw degree of freedom is less than 360°.

[0332] In some embodiments, in a single-port laparoscopic surgical robot, referring again to FIG1 , a trocar 400 is disposed at the end of a housing 130 housing multiple manipulators 140 , and multiple medical devices 150 are inserted into the patient's body through multiple airtight channels provided by the same trocar 400 to perform surgery. Because the degrees of freedom provided by the manipulators 140 and medical devices 150 are relatively sufficient, "relatively sufficient" includes being sufficient to meet the requirements for the implementation of the corresponding surgical procedure. Therefore, during preoperative positioning, the position of the trocar 400 can usually be determined based on the target surgical procedure to be performed, and the trocar 400 can be locked in this position through software control. Its position and posture cannot be changed in the locked state, thereby reducing the stress that may be generated by the movement of the trocar 400 and causing harm to the patient.

[0333] For example, surgical procedures can be categorized into broad categories, including otolaryngology, prostate, nephrology, gastrointestinal, hepatobiliary, thoracic, gynecological, and cardiac. Furthermore, for example, hepatobiliary procedures can be categorized into subcategories, such as liver transplantation, hepatectomy, cholecystectomy, pancreaticoduodenectomy, and splenectomy. Target surgical procedures can be identified from these subcategories.

[0334] For the different surgical procedures exemplified above, multiple different major types of surgical procedures may be allowed to be performed through the same incision or natural cavity opening of a living body, for example, renal surgery, gastrointestinal surgery, and hepatobiliary surgery may be allowed to be performed through the same incision or natural cavity opening; multiple different minor types of surgical procedures within the same major type of surgical procedure may also be allowed to be performed through the same incision or natural cavity opening of a living body, for example, liver transplantation, liver lobectomy, cholecystectomy, pancreaticoduodenectomy, and splenectomy within hepatobiliary surgery may be allowed to be performed through the same incision or natural cavity opening.

[0335] Since the trocar 400 is connected to the patient, the trocar 400 is usually not allowed to change its position. If necessary, the trocar 400 can only be allowed to move around the remote motion center, that is, it is allowed to maintain the position of the trocar 400 and change the orientation of the trocar 400. The remote motion center can usually be configured on the trocar 400. For example, as shown in FIG14, the remote motion center (i.e., RC) is configured at the position where the trocar 400 is connected to the incision or natural cavity opening, so that when the trocar 400 moves around the remote motion center, it will not damage the incision or natural cavity opening.

[0336] The motion boundaries of the end effector are related to the range of joint motion of the joint assembly in manipulator 140 and medical device 150, and in this sense, the motion boundaries are not adjustable in the operating space. The motion boundaries of the end effector are also related to the orientation (i.e., posture) of puncture device 400, and in this sense, the motion boundaries are adjustable in the operating space.

[0337] For the sake of simplicity, FIG15 intentionally omits the manipulator 140 and the medical device 150, retaining only the trocar 400 for illustration. Different surgical procedures are often associated with different orientations of the trocar 400. Orientation adjustment can usually be achieved by controlling the movement of the trocar 400 around the remote motion center to meet the needs of switching between different surgical procedures associated with the same incision or the same natural cavity opening. The main purpose of switching surgical procedures or adjusting the orientation of the trocar 400 is to ensure that the motion boundaries of the end effector meet the surgical operation of the target surgical procedure, rather than excessively hindering the surgical operation. It can be seen that the orientation of the trocar 400 is often related to the surgical procedure. A change in the orientation of the trocar 400 may cause a change in the surgical procedure, and vice versa, and the two can affect each other.

[0338] For example, referring to FIG. 15 , the motion boundaries of multiple different end effectors disposed on the same puncture device 400 can be configured to have a common motion boundary. This common motion boundary can be, for example, the intersection of the motion boundaries of the multiple different end effectors. For example, this common motion boundary can be constrained to form a cylindrical space, which can be represented by the dotted closed figure in FIG. 15 . This common motion boundary is illustratively associated with the orientation axis of the puncture device 400, for example, the central axis of the cylindrical space, which is sometimes referred to as the RC axis or the central axis.

[0339] In some embodiments, the controller can also predict the orientation of the puncture device 400 (equivalent to predicting the surgical procedure) based on the doctor's manipulation of the manipulator assembly 120 through the operating unit 310. Therefore, as shown in FIG16 , the controller can also be configured to perform:

[0340] Step S21 : obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the trocar.

[0341] The motion boundary here mainly refers to the position motion boundary in the operating space. Whether the target surgical procedure can be successfully implemented is mainly related to the position motion boundary of the end effector. In other words, whether the end effector can reach the necessary position area is the key to whether the operation can be successfully implemented.

[0342] The first information includes one or more of the out-of-bounds position, the number of out-of-bounds times and the out-of-bounds time. The number of out-of-bounds times includes the number of out-of-bounds times associated with the out-of-bounds position and / or the total number of out-of-bounds times. The total number of out-of-bounds times can be directly obtained by counting once each time the out-of-bounds is accumulated, or it can be obtained by calculating the sum of the number of out-of-bounds times of each out-of-bounds position. The out-of-bounds time includes the residence time of the end effector associated with the out-of-bounds position, including the single out-of-bounds time at the out-of-bounds position and / or the total out-of-bounds time, wherein the total out-of-bounds time includes the total out-of-bounds time at one out-of-bounds position and / or the total out-of-bounds time at all out-of-bounds positions.

[0343] Step S22: predicting the target orientation of the trocar based on the acquired first information.

[0344] Different orientations of trocar 400 are typically associated with different surgical procedures, with the target orientation typically being different from the current orientation.

[0345] In some embodiments, predicting the target orientation of the puncture device based on the acquired first information includes: predicting the target orientation of the puncture device based on the acquired first information in response to acquiring the first instruction.

[0346] In some embodiments, the first instruction may include a first instruction processed and obtained by the controller, i.e., the prediction of the orientation of the trocar 400 is automatically triggered. For example, during a surgical procedure performed at the current orientation of the trocar 400, the controller may determine, based on the first information, a first segment of the end effector's motion boundary where the end effector frequently exceeds the boundary. Once this first segment is determined, the controller may obtain the first instruction. This first segment includes an area consisting of one or more points on the boundary. Since the positions of these points can be determined based on kinematics, the positions of all points covered by the first segment, as a collection of points, can also be determined.

[0347] Exemplarily, the boundary can be divided into multiple segments in advance. The determination of the first segment includes determining whether the number of boundary crossings in the statistically divided multiple segments reaches a threshold value. If the threshold value is reached, the corresponding segment is determined to be the first segment. Since the number of boundary crossings in the multiple segments may reach the threshold value during the operation, the first segment may include more than one, such as one, two, or more. For example, assuming that the motion boundary (e.g., the boundary associated with the xy plane) is circular, the boundary can be divided into more than two segments, such as 2, 3, 4, 5, 6...120 segments. Of course, more segments may also be included. These segments can be configured to be equally divided, partially equally divided, or unequally divided. For example, these segments can be configured to be equally divided segments. Generally, the more segments divided, the more beneficial it is for accurately predicting the target orientation of the puncture device 400. As shown in FIG17 , for example, the boundary can be divided into segments 1 to 8 in advance, wherein the end effector has exceeded the boundary in segments 1 to 8. According to statistics, segment 1 has exceeded the boundary the most times, so segment 1 as shown in FIG18 can be determined as the first segment.

[0348] In addition, the determination of the first segment may also include determining whether the out-of-bounds time in the plurality of segments divided statistically reaches a threshold value. If the threshold value is reached, the corresponding segment is determined to be the first segment.

[0349] For example, it is also possible that the boundary does not need to be divided into multiple segments in advance. The determination of the first segment includes generating a normal distribution curve on the motion boundary associated with the position and number of boundary violations when the total number of boundary violations within a certain period reaches a first threshold. Based on this normal distribution curve, a target interval in which the probability of boundary violations reaches a second threshold is determined. The first segment can then be determined using the position on the motion boundary associated with the endpoints of the target interval. In addition, after determining the target interval, the number of boundary violations within the target interval can be counted. When the number of boundary violations reaches a third threshold, the first segment can be determined using the position on the motion boundary associated with the endpoints of the target interval. As shown in Figure 19, there is no need to divide the boundary into segments in advance. First, the interval with the highest frequency of boundary violations is determined as the target interval, and then the endpoints of the target interval are used to determine the first segment on the boundary as shown in Figure 20.

[0350] In addition, the determination of the first segment may also include the need not to divide the boundary into multiple segments in advance. The determination of the first segment includes generating a normal distribution curve on the motion boundary, associated with the out-of-bounds position and the out-of-bounds time, when the total out-of-bounds time within a certain period reaches a first threshold, and determining the target interval in which the out-of-bounds probability reaches a second threshold based on the normal distribution curve, and using the position on the motion boundary associated with the endpoint of the target interval to determine the first segment.

[0351] In addition, after determining the target interval, the number of times or time of exceeding the boundary within the target interval can be counted. When the number of times or time of exceeding the boundary reaches a third threshold, the position on the motion boundary associated with the endpoint of the target interval is used to determine the first segment.

[0352] In some embodiments, the first instruction may include a first instruction input by a doctor to the controller through an input device, that is, the prediction of the orientation of the puncture device 400 may be manually triggered. The doctor may actively input the first instruction in any way. Exemplarily, the input device for inputting the first instruction includes at least one of the following devices, for example, a touch screen coupled to the controller, for example, a voice recognition device coupled to the controller, for example, an operating unit 310 coupled to the controller, for example, a foot pedal coupled to the controller, for example, a motion recognition device (such as a gesture recognition device) coupled to the controller, for example, a brain wave recognition device coupled to the controller, and other devices that can realize input.

[0353] In some embodiments, predicting the target orientation of the trocar based on the acquired first information includes: determining a first segment based on the first information, and predicting the target orientation of the trocar based on the first segment.

[0354] Among them, the method for determining the first section includes the method described above, which will not be repeated here.

[0355] Exemplarily, predicting the target orientation of the trocar based on the first segment includes: matching, from multiple surgical procedures, a surgical procedure whose associated end effector motion boundary is located on the side of the first segment in an out-of-bounds direction as a target surgical procedure, and then determining the target orientation of the trocar based on the target surgical procedure. Such a target surgical procedure, end effector motion boundary, or trocar target orientation can substantially reflect the physician's desired adjustment direction of the end effector motion boundary, that is, substantially reflect the physician's desired adjustment direction of the trocar. Exemplarily, as shown in FIG21 , assuming that the end effector motion boundaries associated with multiple surgical procedures include end effector motion boundaries A to E, if end effector motion boundaries A, B, and C are located on the side of the first segment in an out-of-bounds direction, and end effector motion boundaries D and E are not located on the side of the first segment in an out-of-bounds direction, then the trocar orientations associated with end effector motion boundaries A, B, and C can be matched as the target orientation.

[0356] Since any two of the trocar orientation, surgical procedure, and end effector motion boundaries are associated with each other, based on this association, the surgical procedure associated with end effector motion boundaries A, B, and C can be matched as the target surgical procedure, and / or the end effector motion boundaries A, B, and C can be matched as the target motion boundaries.

[0357] Exemplarily, predicting the target orientation of the puncture device based on the first segment includes: matching a surgical procedure from multiple surgical procedures whose associated end effector motion boundary can at least partially cover the first segment as a target surgical procedure, and then determining the target orientation of the puncture device based on the target surgical procedure. For example, a surgical procedure that only needs to cover a portion of the points in the first segment can be used as the target surgical procedure. For another example, a surgical procedure that covers the points in the first segment at a ratio that reaches a first threshold can be used as the target surgical procedure. The predicted target surgical procedure may include more than one surgical procedure. Exemplarily, as shown in FIG22 , assuming that multiple surgical procedures include motion boundaries A' to D' of the end effector associated with the surgical procedures, if the proportion of motion boundary A' covering the first segment reaches 100%, the proportion of motion boundary B' covering the first segment reaches 80%, the proportion of motion boundary C' covering the first segment reaches 40%, and the proportion of motion boundary D' covering the first segment is 0, for example, the surgical procedures associated with motion boundaries A', B', and C' can all be used as target surgical procedures. For another example, a surgical procedure with a coverage ratio greater than 50% can be used as a target surgical procedure. At this time, among the surgical procedures associated with motion boundaries A' to C', only the surgical procedures associated with motion boundaries A' and B' can be used as target surgical procedures.

[0358] Exemplarily, in order to more accurately predict the target orientation of the puncture device 400, predicting the target orientation of the puncture device based on the first segment may include: acquiring the first segment; acquiring an operating image captured by an imaging device; identifying organs in the operating image; and predicting the target orientation of the puncture device based on the first segment and the identified organs. Exemplarily, organs include the heart, liver, spleen, lungs, stomach, gallbladder, pancreas, kidneys, bladder, large intestine, duodenum, etc. Organs also include smaller features, such as the lobes of the liver. As shown in FIG. 23 , when, for example, the lobes of the liver, kidneys, and duodenum are identified from the operating image, the orientation of the puncture device corresponding to the lobes of the liver and kidneys can be predicted as the target orientation based on the first segment.

[0359] In some embodiments, predicting a target orientation of the puncture device based on the first segment and the identified organ includes:

[0360] A first surgical procedure associated with the first segment is matched from a plurality of surgical procedures; and a second surgical procedure whose associated end effector motion boundary is associated with the identified organ is matched from the first surgical procedure as a target surgical procedure.

[0361] Exemplarily, matching a first surgical procedure associated with the first segment from a plurality of surgical procedures includes: matching a surgical procedure whose associated end effector's motion boundary is located on the side of the first segment in an out-of-bounds direction from a plurality of surgical procedures as the first surgical procedure.

[0362] Exemplarily, matching a first surgical procedure associated with the first section from a plurality of surgical procedures includes: matching a surgical procedure whose corresponding end effector motion boundary can at least partially cover the first section from the plurality of surgical procedures as the first surgical procedure.

[0363] A second surgical procedure whose associated end effector motion boundary is associated with the identified organ is matched from the first surgical procedure as the target surgical procedure. In other words, surgical procedures associated with unidentified organs are excluded, and the remaining surgical procedures are used as the second surgical procedure. Here, the organ is not identified, including the organ not being within the operating image (that is, not within the field of view of the imaging instrument) and / or the organ being within the operating image but not identified due to factors such as incomplete features. Furthermore, by combining image recognition to screen the first surgical procedure, the prediction accuracy of the second surgical procedure can be improved, and the doctor's operating intention can be better reflected.

[0364] In some embodiments, after predicting the target surgical procedure and / or the target orientation of the puncture device, the controller can be configured to recommend the target surgical procedure and / or the target orientation of the puncture device to the doctor. For example, a user interface as shown in FIG24 can be generated to present the corresponding recommendation information to the doctor. In the interface shown in FIG24, the target surgical procedure and / or the target orientation of the puncture device related to the liver lobe are recommended to the doctor. Furthermore, the doctor can manually adjust the orientation of the puncture device according to the recommended target surgical procedure and / or the target orientation of the puncture device. The adjustment of the orientation of the puncture device includes adjusting the orientation axis of the puncture device (sometimes also called the central axis or RC axis) to substantially match the orientation requirements of the target surgical procedure and / or the target orientation of the puncture device for the orientation axis of the puncture device.

[0365] There are various ways for the controller to recommend a target surgical procedure and / or a target orientation of the puncture device to the doctor. For example, a voice device or a display device coupled to the controller can be provided to play information related to the second surgical procedure and / or the target orientation of the puncture device via the voice device, and / or to display information related to the second surgical procedure and / or the target orientation of the puncture device via the display device. Recommending a target surgical procedure is generally easier for the doctor to understand. Of course, for doctors who are proficient in using surgical robotic systems, directly recommending the target orientation of the puncture device is also acceptable.

[0366] For example, the voice device includes a speaker or earphone that is independently provided from the main operating console 200 and the slave operating device 100. For another example, the voice device includes a speaker that is integrated into the main operating console 200 and / or the slave operating device 100.

[0367] For example, the display device includes a display provided independently of the master console 200 and the slave operating device 100, for example, a display on an image cart coupled to the master console 200 and the slave operating device 100. In another example, the display device includes a display provided integrated with the master console 200 and / or the slave operating device 100.

[0368] In some embodiments, after predicting the target orientation of the trocar, the controller may be configured to: control the movement of the joint assembly in the main arm based on the target orientation to cause the trocar to move about the remote center of motion and to achieve the target orientation. Causing the trocar to achieve the target orientation includes causing the orientation axis of the trocar to achieve the target orientation. Exemplarily, the target orientation of the trocar includes a target orientation based on a base coordinate system of the main arm.

[0369] In some embodiments, after predicting the target surgical procedure, the controller can be configured to: obtain the orientation of the puncture instrument associated with the target surgical procedure as the target orientation, control the movement of the joint assembly in the main arm according to the target orientation so that the puncture instrument moves around the remote motion center, and make the orientation of the puncture instrument reach the target orientation.

[0370] Among them, controlling the movement of the joint assembly in the main arm according to the target orientation includes: converting the target orientation into the joint variables of the joint assembly in the main arm through inverse kinematics; and then controlling the movement of the joint assembly in the main arm according to the corresponding joint variables so that the orientation of the puncture device reaches the target orientation.

[0371] In some embodiments, when there are multiple second surgical procedures as the target surgical procedure, the final determination of the target surgical procedure may include multiple implementations, wherein the final determination of the target surgical procedure includes selecting one of the second surgical procedures as the target surgical procedure.

[0372] Exemplarily, the final determination of the target surgical procedure may include the doctor's selection of the second surgical procedure. For example, the selection may be made by performing voice recognition through a voice recognition device. For example, when information related to the second surgical procedure including a name, number, etc. is recognized, the second surgical procedure is determined as the target surgical procedure. For another example, information related to the second surgical procedure may be generated and displayed on an interface of a display, and a corresponding second surgical procedure may be determined as the target surgical procedure by touching or squeezing a corresponding input device such as a touch screen, a button, a foot pedal, etc. Of course, other methods are also possible, such as performing brainwave recognition through a brainwave recognition device to make a selection. For example, when information related to the second surgical procedure is recognized, the second surgical procedure is determined as the target surgical procedure.

[0373] Exemplarily, the final determination of the target surgical procedure may include the automatic selection of the second surgical procedure by the surgical robot system, such as a controller. For example, the surgical procedure with the highest correlation among the second surgical procedures may be used as the target surgical procedure by default, wherein, when the second surgical procedure includes one surgical procedure, the surgical procedure has the highest correlation because it is unique. For another example, assuming that the closer the motion boundary associated with the end effector is to the first segment, the higher the correlation, the second surgical procedure whose center is closest to the first segment mentioned above may be used as the target surgical procedure to reduce the motion amplitude when the puncture device is adjusted.

[0374] In some embodiments, controlling the movement of the joint assembly in the main arm based on the target orientation includes: controlling the movement of the joint assembly in the main arm based on the target orientation after a delay time has expired. The delay time can be exemplarily configured to be between 0 and 120 seconds. Exemplarily, if the delay time is configured to 0 seconds, once the target surgical procedure and / or target orientation of the trocar are determined, the movement of the joint assembly in the main arm can be immediately controlled to adjust the orientation of the trocar. Exemplarily, if the delay time is configured to 30 seconds, after the target surgical procedure and / or target orientation of the trocar are determined and the delay has expired for 30 seconds, the movement of the joint assembly in the main arm can be controlled to adjust the orientation of the trocar. This delay time configuration can provide the physician with sufficient time to redefine the target surgical procedure. Of course, after the target surgical procedure and / or target orientation of the trocar are determined and before the delay time has expired, upon receiving a confirmation instruction from the physician interactively requesting immediate adjustment of the trocar orientation, the controller can immediately control the movement of the main arm without the delay time expiring.

[0375] In some embodiments, when the end effector frequently overruns at a boundary, the orientation of the trocar may be configured to be automatically or manually adjusted even in scenarios where the target surgical procedure and / or target orientation is not necessary or cannot be predicted.

[0376] In some embodiments, as shown in FIG25 , the controller may be configured to perform:

[0377] Step S31 : obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the puncture device.

[0378] The first information includes one or more of the out-of-bounds position, out-of-bounds number of times and out-of-bounds time.

[0379] Step S32: Determine the target center point based on the acquired first information.

[0380] Determining the target center position based on the acquired first information includes: determining, based on the determined first segment, a position of a characteristic point on the first segment as the target center point. The characteristic point may, for example, include the center point of the first segment. Determining the first segment may include any of the methods described above, which will not be further elaborated here.

[0381] Step S33, controlling the movement of the joint assembly in the main arm to move the trocar around the remote motion center, and aligning the orientation of the trocar with the target center point.

[0382] The movement of the puncture tool around the remote motion center includes rotational movement of the puncture tool around the remote motion center, and generally, the puncture tool only moves in the posture degree of freedom. The orientation of the puncture tool aligned with the target center point includes the orientation axis of the puncture tool passing through the target center point.

[0383] Among them, step S33 includes: obtaining the target orientation that the orientation axis of the puncture device is expected to move to, determining the target joint variables of the joint components in the main arm according to the target orientation, and then controlling the movement of the corresponding joint components in the main arm according to the target joint variables to make the puncture device perform RC motion and align the orientation of the puncture device with the target center point.

[0384] Exemplarily, the target orientation can be obtained by: The controller is configured to execute: obtaining the orientation of the line formed by the remote motion center and the target center point as the target orientation. Exemplarily, the target orientation can be the target orientation in the base coordinate system of the main arm.

[0385] The alignment of the trocar's orientation axis with the target center point includes aligning the trocar's orientation axis with a line formed by the remote motion center and the target center point. The position of the target center point in the base coordinate system can be determined based on the position of the target center point in the imaging instrument's image end effector coordinate system (sometimes also referred to as the endoscope coordinate system) and the conversion relationship between the endoscope coordinate system and the base coordinate system of the main arm, thereby facilitating acquisition of the target orientation.

[0386] Exemplarily, the target joint variables can be obtained as follows: the controller is configured to determine the target joint variables of the joint components in the main arm by combining the target orientation and the inverse kinematics.

[0387] As shown in FIG26 , the image model of the dotted motion boundary represents the orientation of the puncture device 400 before adjustment, and the image model of the solid motion boundary represents the orientation of the puncture device 400 after adjustment to align with the target center point.

[0388] Through steps S31 to S33, the orientation of the trocar 400 can be automatically adjusted, preventing the end effector from frequently exceeding its motion boundary during operation at the current orientation of the trocar 400. Furthermore, by continuously repeating steps S31 to S33, the orientation of the trocar 400 can be continuously adjusted to ultimately achieve the desired orientation of the trocar 400.

[0389] In some embodiments, as shown in FIG27 , the controller may be configured to perform:

[0390] Step S41 , obtaining first information that the end effector exceeds its motion boundary during the doctor's operation under the current orientation of the puncture device.

[0391] The first information includes one or more of the out-of-bounds position, out-of-bounds number of times and out-of-bounds time.

[0392] Step S42 : determining a first segment based on the first information, and determining a target organ in the operation image by combining the first segment and the operation image.

[0393] For the purpose of brevity, please refer to the previous text for the description of the first section.

[0394] Exemplarily, determining the target organ in the operation image by combining the first segment and the operation image may include:

[0395] Identify all organs in the operating image and determine the target organ from the identified organs based on the first segment. That is, first identify all organs in the operating image, and then determine the organ associated with the first segment from the identified organs as the target organ. Determining the target organ in combination with the first segment mainly includes assigning a reasonable range to determine the target organ. For example, the range includes the range of the first segment located on the side away from the current orientation axis of the puncture device, and the corresponding organ is determined as the target organ based on this range.

[0396] Exemplarily, determining the target organ in the operation image by combining the first segment and the operation image may also include:

[0397] Identify the organs associated with the first segment in the operation image and use them as target organs. That is, instead of identifying all organs in the operation image, directly identify the organs associated with the first segment as target organs. This can reduce the image processing workload and thus improve the image processing speed.

[0398] Step S43: determining the target center point based on the identified target organ.

[0399] For example, the geometric center of the target organ can be determined as the target center point based on the contour information of the target organ.

[0400] Step S44, controlling the movement of the joint assembly in the main arm to move the trocar around the remote motion center, and aligning the orientation of the trocar with the target center point.

[0401] Among them, step S44 includes: obtaining the target orientation of the expected orientation axis movement of the puncture device, determining the target joint variables of the joint components in the main arm according to the target orientation, and then controlling the movement of the corresponding joint components in the main arm according to the target joint variables so that the puncture device performs RC movement and its orientation is aligned with the target center point.

[0402] Exemplarily, the target orientation can also be obtained by obtaining the orientation of the line formed by the remote motion center and the target center point as the target orientation. In some embodiments, there may be more than one target organ, so there may be more than one target center point. The controller is configured to determine one of the multiple target center points as the target center point according to the interaction instructions between the doctor and the surgical robot system. Of course, the controller can also determine one of the multiple target center points as the target center point by default according to preset rules. The preset rules exemplarily include: obtaining multiple target orientations between the remote motion center and multiple target center points, and determining the target center point associated with the one with the smallest difference between the current orientation of the puncture device and the multiple target orientations as the target center point.

[0403] As shown in FIG28 , when the target organ includes a liver lobe, the center of the liver lobe is used as the target center point. The image model of the motion boundary of the dotted line represents the orientation of the puncture device 400 before adjustment, and the image model of the motion boundary of the solid line represents the orientation of the puncture device 400 after adjustment to align with the target center point.

[0404] Through the above steps S41 to S44 , the orientation axis of the puncture device 400 can be aligned with the target center point associated with the target organ, so as to facilitate surgery on the target organ.

[0405] It is worth noting that when manually or automatically adjusting the orientation axis of the puncture device 400 to move around the remote motion center, it is preferable to consider the safety risks that may be caused by the end effector when the medical device 150 moves following the movement of the puncture device 400.

[0406] To minimize the aforementioned safety risks, illustratively, the plurality of medical devices 150 passing through the puncture device 400 may be retracted to a safe position before adjusting the orientation axis of the puncture device 400 to move about the remote motion center. illustratively, when adjusting the orientation axis of the puncture device 400 to move about the remote motion center, the joint assemblies in the manipulator assembly 120 may be controlled to coordinate movement to maintain the position or posture of the end effector in response to the change in orientation of the puncture device 400 as it moves about the remote motion center.

[0407] Continuing to refer to FIG14 , in the medical device 150 , since the operating end effector 154 of the surgical instrument 153 is more harmful to the patient than the imaging end effector 152 of the imaging device 151 , in some embodiments, when adjusting the orientation axis of the puncture device 400 to move around the remote motion center, only the joint assembly in the manipulator assembly 120 associated with the surgical instrument 153 is controlled to move in coordination to maintain the position and / or posture. At the same time, since the imaging device 151 is not controlled, the imaging device 151 can generate a new field of view by following the movement of the puncture device 400 to facilitate observation of changes in the orientation of the puncture device 400.

[0408] Of course, in other embodiments, if it is necessary to maintain the current surgical field of view, the joint assembly in the manipulator assembly 120 associated with the surgical instrument 153 can be controlled to move in coordination to maintain the position and / or posture, and at the same time, the joint assembly in the manipulator assembly 120 associated with the imaging instrument 151 can be controlled to move in coordination to maintain the position and / or posture.

[0409] In some embodiments, the target object manipulated by the operating part can be changed according to the doctor's manipulation of the manipulator assembly by the operating part. The controller can be configured to perform:

[0410] During the doctor's surgical procedure under the current orientation of the puncture device, when the number of times the end effector exceeds a certain range of its motion boundary within a certain period reaches a target threshold, the first operating mode is switched to the second operating mode. The first operating mode is the aforementioned master-slave follower control mode, which includes the manipulation of the manipulator assembly by the operating unit. The second operating mode is the puncture device control mode, which includes the manipulation of the main arm by the operating unit, that is, the manipulation of the puncture device connected to the end of the main arm. The manipulation of the puncture device is more preferably the manipulation of the remote motion center of the puncture device. Exemplarily, the manipulation of the puncture device by the operating unit includes manipulating the puncture device to move around the remote motion center.

[0411] The section may include a section on a predefined motion boundary. The section may also include a section in which the number of overruns reaches a set threshold value among a plurality of pre-divided areas. The section may also include a section determined by methods such as statistically analyzing the normal distribution of the number of overruns and the position of overruns during a surgical procedure. Continuing to refer to FIG. 17 , for example, within a certain period, such as 10 seconds, when the number of overruns of the end effector in section 1 exceeding its motion boundary reaches a target threshold value, such as 3 times, the first operating mode is switched to the second operating mode.

[0412] Furthermore, by switching operating modes, the doctor can quickly adjust the orientation of the trocar's orientation axis through the operating unit, without leaving the operating position. In particular, because the end effector provides clear force feedback when it exceeds its motion limits, it clearly reflects the doctor's intention to switch operating modes, providing a good user experience.

[0413] Illustratively, in the second operating mode, the orientation of the puncture device can be configured to change in accordance with a change in the orientation of the operating portion. For example, the orientation of the puncture device changes in accordance with a change in the first orientation freedom (e.g., yaw freedom) of the operating portion in a first orientation freedom (e.g., yaw freedom), the orientation of the puncture device changes in accordance with a change in the first orientation freedom (e.g., pitch freedom) of the operating portion in a first orientation freedom (e.g., pitch freedom), and the orientation of the puncture device changes in accordance with a change in the first orientation freedom (e.g., roll freedom) of the operating portion in a first orientation freedom (e.g., roll freedom).

[0414] Illustratively, in the second operating mode, the orientation of the puncture device can also be configured to change in accordance with the position change of the operating portion. For example, the movement of the operating portion in a first positional degree of freedom (e.g., the horizontal degree of freedom) is converted into the movement of the orientation of the puncture device in the first orientational degree of freedom (e.g., the yaw degree of freedom), the movement of the operating portion in a second positional degree of freedom (e.g., the vertical degree of freedom) is converted into the movement of the orientation of the puncture device in the second orientational degree of freedom (e.g., the pitch degree of freedom), and the movement of the operating portion in a third positional degree of freedom (e.g., the front-to-back degree of freedom) is converted into the movement of the orientation of the puncture device in the third orientational degree of freedom (e.g., the roll degree of freedom).

[0415] In the above embodiments, when it is desired to adjust the orientation of the trocar, the controller typically needs to receive a command. This command can be input by the physician through interaction (e.g., voice, gesture, brainwaves, etc.), or the controller can generate the command after a configured delay time, for example. In response to receiving the command, the controller controls the movement of the joint assembly in the main arm to adjust the orientation of the trocar.

[0416] In the above embodiment, by adjusting the orientation of the puncture device, the operating space of the end effector of the medical device relative to the reference coordinate system of the main arm can be greatly improved, avoiding the inconvenience caused by the frequent occurrence of the out-of-bounds problem.

[0417] In some embodiments, the controller can be configured to generate an image model of at least the first segment of the end effector determined above where the end effector frequently exceeds its motion boundary and display it on any of the displays described above. For example, please refer to the image model shown in any one of Figures 18 and 20 to 24. By viewing the image model displayed on the display, the doctor can clearly understand his own operation status and / or determine the operation intention he wants to achieve. In other embodiments, the controller can also be configured to generate an image model of the motion boundary of the end effector and highlight the determined first segment, including highlighting it through different colors, brightness, lines (including line shape, thickness), strobe, etc. In some embodiments, in order not to affect the doctor's observation of the operation image, when the first segment cannot be determined, the controller can be configured not to display the above image model.

[0418] In some embodiments, in order to facilitate the doctor's understanding of the predicted target surgical procedure and / or the target orientation of the puncture device, the controller can be configured to highlight the characteristic points of the identified organ and / or the determined first segment, such as the center point, on the operation image, including highlighting the outline of the organ and highlighting the target center point on the organ and / or the first segment on the operation image, so as to facilitate the doctor to determine his or her own operation intention based on the information displayed in the auxiliary image.

[0419] In some embodiments, the image model also includes a first part of the manipulator assembly 120 being manipulated, and the first part exemplarily includes an end effector. Of course, the first part may also include other connection components (composed of multiple joint components) including the end effector in the medical device 150. The end effector can appear in the image model in a variety of ways, such as as an arrow, an aperture, or an icon that is almost the same as the structure of the end effector. The position of the end effector in the image model can be calculated based on forward kinematics. By generating an image model including the end effector, the doctor can understand the situation of the end effector and the boundary, which is more helpful, for example, when it is desired to switch the operation mode.

[0420] For example, when a doctor wants to adjust the orientation of the puncture device, the combination of the above-mentioned visual feedback and the force feedback of the operating part when the limit is exceeded can help the doctor clarify his or her operating intentions and reduce the possibility of misoperation.

[0421] In some embodiments, master-slave alignment primarily refers to aligning the posture of the end of an operating unit in a display coordinate system of a display with the posture of the end of a surgical instrument in an endoscope coordinate system of an imaging instrument having a master-slave mapping relationship, wherein the master-slave mapping relationship includes a communication connection between an operating unit and a surgical instrument, wherein movement of the operating unit can cause movement of the surgical instrument, or vice versa. In the master-slave alignment mode, since multiple manipulators in a single-port laparoscopic surgical robot are housed in the same housing and medical instruments mounted on the manipulators pass through the same trocar, the relative posture relationship between the medical instruments is maintained when the housing housing the multiple manipulators is changed. Therefore, the posture of the surgical instrument's end effector under the imaging instrument's end effector does not change. Therefore, the single-port laparoscopic surgical robot does not need to re-align the posture of the end of the operating unit in the display coordinate system with the posture of the end of the surgical instrument in the endoscope coordinate system due to a change in the housing's posture.

[0422] In a multi-port laparoscopic surgical robot, multiple manipulators are set up completely independently. The medical instruments installed on the manipulators pass through different punctures. Changing the posture of any manipulator may cause the posture of the end effector of the surgical instrument under the end effector of the imaging instrument to change. Therefore, the multi-port laparoscopic surgical robot needs to re-align the posture of the operating part in the display coordinate system with the posture of the surgical instrument in the endoscope coordinate system due to the change of the manipulator's posture. Whether it is a single-port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, the manipulator is usually located outside the patient's body. The change in the posture of the end effector is usually affected by the coordinated movement (sometimes also called linkage) of the joint components in the manipulator and the medical instrument. In a multi-port laparoscopic surgical robot, for example, when a collision occurs between manipulators, if the relative posture relationship between the manipulators located outside the patient's body needs to be manually re-planned, the posture of the end of the operating part in the display coordinate system can be configured to align with the posture of the end effector in the endoscope coordinate system to always maintain master-slave alignment, which facilitates the subsequent rapid entry into the master-slave following mode. Manual planning of the relative pose relationship between the manipulators can be achieved by an operator applying force to the manipulators, thereby driving the manipulators to move around a remote motion center. The motion of the manipulators around the remote motion center typically includes at least one of a pitch degree of freedom and a yaw degree of freedom.

[0423] Therefore, the present disclosure can also provide a control method, which is applicable to a multi-port laparoscopic surgical robot to realize a master-slave alignment mode. Exemplarily, the slave operating device includes a first manipulator and a second manipulator, the first manipulator is used to install and drive the first medical instrument, and the second manipulator is used to install and drive the second medical instrument. Of the first medical instrument and the second medical instrument, one is a surgical instrument and the other is an imaging instrument. Exemplarily, the operator drags the first manipulator to readjust the relative posture relationship between the first manipulator and the second manipulator, and configures an operating unit to establish a master-slave mapping relationship with the first manipulator and the first medical instrument installed thereon, that is, the operating unit is configured to manipulate the first manipulator and the first medical instrument.

[0424] In some embodiments, referring to FIG. 29 , the control method includes:

[0425] Step S301 : Acquire the current posture and the first target posture of the end of the operating part.

[0426] Among them, the movement of the end effector is usually caused by the movement of the manipulator. In some embodiments, the target posture that the end of the manipulator is expected to reach can be obtained, and the target posture can be described in the base coordinate system of the surgical robot; then the target posture is parsed to obtain the target joint variables of the joint assembly in the manipulator; finally, the target joint variables of the joint assembly in the manipulator and the current joint variables of the joint assembly in the medical device are combined to determine the target posture of the end effector, and at this time, the target posture of the end effector can still be described in the base coordinate system of the surgical robot. In the master-slave alignment mode, regardless of whether the medical device in the manipulator being adjusted is a surgical instrument or an imaging instrument, the posture of the end effector of the surgical instrument in the endoscopic coordinate system is changed, and the posture of the end of the operating part is aligned with the posture of the end of the surgical instrument. Therefore, assuming that the medical instrument in the first manipulator being moved is a surgical instrument, the target posture of the end effector of the surgical instrument in the base coordinate system can be converted into the (second) target posture in the endoscope coordinate system; assuming that the medical instrument in the first manipulator being moved is an imaging instrument, although the first manipulator is moved, the surgical instrument installed on the second manipulator is actually moved relative to the imaging instrument. At this time, based on the target posture of the end effector of the imaging instrument in the first manipulator in the base coordinate system, the current posture of the end effector of the surgical instrument in the second manipulator in the base coordinate system can also be converted into the (second) target posture in the endoscope coordinate system.

[0427] In the master-slave alignment mode, the target posture of the end of the operating part usually needs to be aligned with the target posture of the end effector of the surgical instrument. That is, the first target posture of the operating part in the display coordinate system can be determined based on the second target posture of the end effector of the surgical instrument in the endoscope coordinate system, without having to discuss whether the first manipulator being moved among the multiple manipulators is equipped with a surgical instrument or an imaging instrument.

[0428] In the present disclosure, the pose (including position and posture) of the end effector can be described in the endoscope coordinate system, or can be converted into a pose described in the endoscope coordinate system. The pose (including position and posture) of the end of the operating unit can be described in the display coordinate system, or can be converted into a pose described in the display coordinate system.

[0429] Step S302 : detecting whether the current posture reaches the movement boundary of the end of the operating portion, and detecting whether the first target posture exceeds the movement boundary.

[0430] The motion boundary refers to the posture motion boundary of the end of the operating part, which is determined by the motion ranges of all joint components associated with the posture degree of freedom in the operating part.

[0431] When the current posture reaches the movement boundary and the first target posture exceeds the movement boundary, step S303 is executed; otherwise, step S307 is entered.

[0432] Step S303 : determining a first resistance assumed to act on the operating part based on the first target posture and the current posture.

[0433] The first resistance force is a virtual force used to hypothetically resist the movement of the end of the operating portion toward the first target posture, that is, it does not actually resist the movement of the end of the operating portion toward the first target posture.

[0434] In step S303 , the distal end of the operating portion may be controlled to maintain the current posture.

[0435] Step S304 : determining a second resistance actually acting on the end of the first manipulator based on the first resistance.

[0436] The end of the manipulator can refer to any part of the manipulator, for example, the part that applies a fixed force is designated as the end of the manipulator. For example, the end of the manipulator can be located at the end of all joint components in the manipulator, which is used to apply a fixed force.

[0437] The second resistance force is a real force that actually exists and will act on the end of the first manipulator, and is used to actually resist the movement of the end of the first manipulator toward the target posture of the end of the first manipulator.

[0438] Step S305 : determining a target joint driving force expected to be output by the joint assembly in the first manipulator based on the second resistance.

[0439] Step S306: Control the joint component in the first manipulator component to output the joint target driving force.

[0440] By controlling the joint assembly in the first manipulator to output the joint target driving force, force feedback is achieved on the first manipulator, thereby prompting the operator not to move the first manipulator to the posture corresponding to the posture instruction.

[0441] Step S307 : determining target joint variables of the joint components in the operating part based on the first target posture.

[0442] Step S308: Control the joint component in the operation unit to output the target joint variable.

[0443] When the current posture has not reached the motion boundary and / or the first target posture has not exceeded the motion boundary, the posture of the end of the operating part can follow the posture movement of the end effector of the first medical device, thereby keeping the postures of the two aligned, facilitating subsequent rapid switching into the master-slave control mode to perform surgery.

[0444] The various forces involved here, such as the first resistance, the second resistance, and the joint target driving force, can all be generalized forces, which include at least one of force and torque.

[0445] In some embodiments, in the master-slave alignment mode, since it is desired to provide force feedback to the operating part that performs the follow-up motion when it exceeds the motion boundary of the end of the operating part through the first manipulator, it is necessary to perform corresponding torque control on the joint assembly in the first manipulator. However, the first number of real degrees of freedom in the operating part that affect the posture of the end of the operating part and the second number of real degrees of freedom in the first manipulator that affect the posture of the end effector may be different. For example, in the multi-port laparoscopic surgical robot shown in the figure, the real degrees of freedom in the operating part that affect the posture of the end of the operating part include rotation degree of freedom, pitch degree of freedom and yaw degree of freedom, a total of three; while the real degrees of freedom in the first manipulator that affect the posture of the end effector only include pitch degree of freedom and yaw degree of freedom, a total of two. In other words, the degrees of freedom that affect the posture can also be called real posture degrees of freedom.

[0446] Of course, since the end effector includes a connecting rod and a wrist joint assembly, it can still achieve the same rotational freedom, pitch freedom and yaw freedom as the operating part.

[0447] In some embodiments, to compensate for the lack of real degrees of freedom in the first manipulator that affect the posture of the end effector, it can be assumed that the first manipulator also includes a third number of imaginary degrees of freedom to facilitate the determination of the joint target driving force in step S305. The third number is equal to the difference between the first number and the second number.

[0448] In some embodiments, the step of determining the joint target driving force expected to be output by the joint assembly in the first manipulator based on the second resistance includes: determining the joint target driving force output by the (second number of) real degrees of freedom and the (third number of) imaginary degrees of freedom of the joint assembly in the first manipulator based on the second resistance.

[0449] Accordingly, the step of controlling the joint assembly in the first manipulator assembly to output the joint target driving force includes controlling the (second number of) real degrees of freedom of the joint assembly in the first manipulator assembly to output the joint target driving force. The virtual degrees of freedom only participate in determining the joint target driving force and do not participate in outputting the joint target driving force.

[0450] Although the first manipulator lacks corresponding real degrees of freedom, by controlling the real degrees of freedom of the joint components in the first manipulator to output the joint target driving force, it is still possible to clearly prompt the operator not to move the first manipulator to the posture corresponding to the posture instruction.

[0451] In some embodiments, in the above step S305, other forces that are expected to actually act on the end of the first manipulator can also be superimposed. This force can include one or more expected effects. At the same time, this force is also a generalized force. Exemplarily, the forces expected to be superimposed include but are not limited to damping forces, and / or joint compensation driving forces for balancing the forces generated by the internal load in the first manipulator. Exemplarily, the joint compensation driving forces can include at least one of gravity compensation forces and friction compensation forces. For these forces that may be superimposed, please refer to the above text and will not be repeated here.

[0452] In one embodiment, the force expected to be superimposed includes a damping force. The above step S305 includes:

[0453] obtaining a velocity of an end portion of the first manipulator, and determining a damping force actually acting on the end portion of the first manipulator based on the velocity, wherein the damping force is used to actually consume potential energy accumulated when the second resistance acts on the end portion of the first manipulator;

[0454] Based on the second resistance force and the damping force, a joint target driving force output by the joint component in the desired first maneuver is determined.

[0455] In the master-slave alignment mode, since the motion of the first manipulator around the remote motion center is one of pitch motion and / or yaw motion, the velocity is an angular velocity. Furthermore, the steps of obtaining the velocity of the end point of the first manipulator and determining the damping force actually acting on the end point of the first manipulator based on the velocity include:

[0456] obtaining the angular velocity of the end of the first manipulator;

[0457] Get the damping force model;

[0458] The damping force is determined by combining the angular velocity and the damping force model.

[0459] Exemplarily, the damping force model can be expressed as the following formula:

[0460] In formula (14), τ damp is the damping force; ω b is the angular velocity of the end of the first manipulator; k ω is the angular velocity damping coefficient; is the transpose of the Jacobian matrix of the first manipulator, wherein the Jacobian matrix is ​​determined in real time based on the joint variables of the joint assembly in the first manipulator.

[0461] In some embodiments, step S303 may include: when the current posture reaches the posture motion boundary and the first target posture exceeds the posture motion boundary, obtaining a first posture motion boundary impedance model, and determining the first resistance based on the deviation between the first target posture and the current posture and the first posture motion boundary impedance model. The first posture motion boundary impedance model can be expressed, for example, as in formula (3) above, and will not be repeated here.

[0462] In some embodiments, step S304 may include obtaining a second posture motion boundary impedance model, determining a second resistance based on the first resistance and the second posture motion boundary impedance model, wherein the second resistance determined by the second posture motion boundary impedance model has an improvement in slope and / or slope change rate compared to the first resistance determined by the first posture motion boundary impedance model. The second posture motion boundary impedance model may be expressed, for example, as in formula (4) above, which will not be repeated here.

[0463] In some embodiments, the above step S302 may also be implemented based on the joint space angle, which may include:

[0464] The target joint variables of the joint components in the operating part are determined based on the first target posture, and the current joint variables of the joint components in the operating part are determined based on the current posture.

[0465] A target joint component that meets a first condition is determined from the joint components in the operating part. The first condition includes that a current joint variable of the target joint component reaches a joint motion boundary of the target joint component and the target joint variable exceeds the joint motion boundary of the target joint component.

[0466] When there is a target joint component that meets the first condition, it indicates that in step S302 , it is detected that the current posture reaches the motion boundary and the first target posture exceeds the motion boundary.

[0467] Referring to FIG. 30 , the above-mentioned step S303 may include:

[0468] Step S3031: Determine the joint driving force that is assumed to act on the target joint component based on the target joint variable and the current joint variable of the target joint component.

[0469] Step S3032: assigning the joint driving force of the non-target joint components in the joint components of the operating part that do not meet the first condition to zero.

[0470] Step S3033 : determining a first resistance imaginary acting on the end of the operating part based on the joint driving force of the target joint component and the joint driving force of the non-target joint component.

[0471] In one embodiment, the method for implementing step S3031 may include obtaining a joint boundary impedance model and determining a hypothetical joint driving force acting on the target joint component by combining the target joint variable, the current joint variable, and the joint boundary impedance model of the target joint component. The joint boundary impedance model can be expressed, for example, as in Formula (6) above, which will not be repeated here.

[0472] In the above step S3033, the joint driving forces of the joint components in the operating part can be combined into a force vector and expressed in a matrix form as described in formula (7), which will not be repeated here.

[0473] Then, by directly finding the inverse solution of statics, the first resistance of the end of the first manipulator in the operation space can be obtained based on the joint driving force of the joint assembly in the operation part in the joint space.

[0474] In one embodiment, the present disclosure further provides a controller for a surgical robot. As shown in FIG31 , the controller may include: a processor 501 , a communications interface 502 , a memory 503 , and a communications bus 504 .

[0475] The processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0476] The communication interface 502 is used to communicate with other devices such as various sensors, motors, solenoid valves, or network elements of other clients or servers.

[0477] The processor 501 is configured to execute a program 505 , and specifically may execute the relevant steps in the above method embodiment.

[0478] Specifically, the program 505 may include program codes, which include computer operation instructions.

[0479] The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), one or more integrated circuits configured to implement the embodiments of the present disclosure, or a graphics processing unit (GPU). The one or more processors included in the controller may be processors of the same type, such as one or more CPUs or one or more GPUs; or they may be processors of different types, such as one or more CPUs and one or more GPUs.

[0480] The memory 503 is used to store the program 505. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0481] The program 505 can be specifically used to enable the processor 501 to execute the control method described in any one of the above embodiments.

[0482] 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.

[0483] The above-described embodiments merely represent several implementation methods of the present disclosure. 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 of ordinary skill in the art could make various modifications and improvements without departing from the spirit of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present patent shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that: include: An operating part having a first joint assembly; A manipulator for installing a medical device and moving the end of the medical device to a first target posture in response to moving the operating part to a second target posture in a master-slave follow mode, wherein the medical device comprises a connecting rod, a wrist joint assembly and an end effector as the end connected in sequence, wherein the connecting rod provides the end effector with a rotation degree of freedom, the wrist joint assembly provides the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, and the end effector has a direction related to a coordinate axis of the rotation degree of freedom, wherein the direction comprises an initial direction when the connecting rod, the wrist joint assembly and the end effector are arranged in a straight line; and A controller, coupled to the operating portion and the manipulator, is configured to: Acquire the first target posture, and determine the target orientation of the end effector based on the first target posture; When the deviation angle between the target pointing and the initial pointing exceeds the pointing movement boundary of the end effector, determining the direction of a first resistance assumed to act on the end effector; determining the first resistance based on the direction of the first resistance, the deviation angle, and the directional motion boundary; Determine a first target resistance actually acting on the end of the operating part based on the first resistance, the first resistance being used to virtually resist the movement of the end effector toward at least one of the pitch degree of freedom and the yaw degree of freedom in the first target posture, and the first target resistance being used to actually resist the movement of the end of the operating part toward at least one of the pitch degree of freedom and the yaw degree of freedom in the second target posture; Determine a first joint target driving torque that the first joint component is expected to output based on the first target resistance; controlling the first joint component to output the first joint target driving torque to achieve force feedback on the operating part; The first resistance, the first target resistance, and the first joint target driving force are generalized forces.

2. The surgical robot according to claim 1, characterized in that: The controller is also configured to: determining a target rotation angle of the connecting rod based on the first target posture; When the target rotation angle exceeds the motion boundary of the rotation degree of freedom, determining the direction of a second resistance force assumed to act on the end effector; determining the second resistance based on the direction of the second resistance, the target rotation angle, and the motion boundary; Determine a second target resistance actually acting on the end of the operating part based on the second resistance, the second resistance being used to hypothetically resist the rotational freedom movement of the end effector toward the first target posture, and the second target resistance being used to actually resist the rotational freedom movement of the end of the operating part toward the second target posture; Determine a second joint target driving torque that the first joint component is expected to output based on the second target resistance; controlling the first joint component to output the second joint target driving torque to achieve force feedback on the operating part; The second resistance, the second target resistance and the second joint target driving force are generalized forces.

3. The surgical robot according to claim 2, characterized in that: The step of determining the direction of the first resistance assumed to act on the end effector comprises: determining the direction of the first resistance based on the target orientation and the initial orientation; The step of determining the direction of the second resistance assumed to act on the end effector includes: determining the direction of the second resistance based on the target rotation angle and the target orientation.

4. The surgical robot according to claim 3, characterized in that: The step of determining the direction of the first resistance based on the target orientation and the initial orientation comprises: cross-multiplying a first vector obtained by the target orientation and the initial orientation to obtain a modulus of the first vector, and determining the direction of the first resistance based on the first vector and the modulus of the first vector; The step of determining the direction of the second resistance based on the target rotation angle and the target orientation comprises: obtaining a a second vector, obtaining a modulus of the second vector, and determining a direction of the second resistance based on the second vector and the modulus of the second vector.

5. The surgical robot according to claim 2, characterized in that: The step of determining the magnitude of the first resistance assumed to act on the end effector based on the deviation angle and the pointing motion boundary includes: obtaining a first pointing motion boundary impedance model associated with the direction of the first resistance, and determining the first resistance based on the deviation angle, the pointing motion boundary and the first pointing motion boundary impedance model, wherein the first pointing motion boundary impedance model is expressed as follows: m1′ represents the first resistance; k 1,m represents the spring coefficient; θ1 represents the deviation angle; θ 1,max represents the directional motion boundary; m 1,max represents the maximum resistance moment threshold of the first resistance; a represents the stiffness coefficient; Indicates the direction of the first resistance; The step of determining the magnitude of the second resistance imaginary to act on the end effector based on the target rotation angle and the motion boundary includes: obtaining a second directional motion boundary impedance model associated with the direction of the second resistance, and determining the second resistance based on the target rotation angle, the motion boundary and the second directional motion boundary impedance model, wherein the second directional motion boundary impedance model is expressed as follows: m2′ represents the second resistance; |θ 2,d | represents the absolute value of the target rotation angle; θ 2,max represents the motion boundary of the rotational degree of freedom; k 2,m Indicates the spring coefficient; m 2,max represents the maximum resistance torque threshold of the second resistance; a represents the stiffness coefficient; Indicates the direction of the second resistance.

6. The surgical robot according to claim 1, characterized in that: The manipulator includes a second joint assembly, the medical device includes a third joint assembly, the third joint assembly includes the wrist joint assembly and the connecting rod, and the step of determining the target orientation of the end effector based on the first target posture includes: Determining target joint variables of the second joint component and the third joint component based on the first target posture; The target orientation of the end effector is determined based on target joint variables of joint components in the wrist joint assembly related to the yaw degree of freedom and the pitch degree of freedom.

7. The surgical robot according to claim 1, characterized in that: The wrist joint assembly includes a yaw degree of freedom and a pitch degree of freedom, and the pointing motion boundary is jointly determined based on a first maximum deviation angle between the yaw degree of freedom and the initial pointing, and based on a second maximum deviation angle between the pitch degree of freedom and the initial pointing.

8. The surgical robot according to claim 7, characterized in that: When the first maximum deviation angle is the same as the second maximum deviation angle, the first maximum deviation angle or the second maximum deviation angle is configured as the pointing movement boundary; When the first maximum deviation angle is different from the second maximum deviation angle, a relatively smaller one of the first maximum deviation angle and the second maximum deviation angle is configured as the pointing movement boundary.

9. The surgical robot according to claim 1, characterized in that: The manipulator may also move the end effector to a first target position in response to moving the operating portion to a second target position, the end effector including a position motion boundary in an operating space, and the controller is further configured to: Acquire the first target position and acquire the current position of the end effector; Detecting whether the current position reaches the position movement boundary, and detecting whether the first target position exceeds the position movement boundary; When the current position reaches the position movement boundary and the first target position exceeds the position movement boundary, a third resistance assumed to act on the end effector is determined based on the first target position and the current position, and a fourth resistance actually acting on the end of the operating part is determined based on the third resistance, wherein the third resistance is used to assumedly resist the end effector from moving toward the first target position. The fourth resistance is used to actually resist the end of the operating part from moving toward the second target position; Determining a third joint target driving force expected to be output by the first joint component based on the fourth resistance; controlling the first joint component to output the third joint target driving force to achieve force feedback on the operating part; The third resistance, the fourth resistance and the third joint target driving force are generalized forces.

10. The surgical robot according to claim 9, characterized in that: The step of determining a third resistance assumed to act on the end effector based on the first target position and the current position, and determining a fourth resistance actually acting on the end of the operating part based on the third resistance, comprises: When the current position reaches the position movement boundary and the first target position exceeds the position movement boundary, obtaining a first position movement boundary impedance model, and determining the third resistance based on the first target position, the current position and the first position movement boundary impedance model; A second position motion boundary impedance model is obtained, and the fourth resistance is determined based on the third resistance and the second position motion boundary impedance model, wherein the fourth resistance determined by the second position motion boundary impedance model has at least one improvement in slope and slope change rate compared to the third resistance determined by the first position motion boundary impedance model.

11. The surgical robot according to claim 10, characterized in that: The first position motion boundary impedance model is expressed as follows: f = k(pp d ) f represents the first resistance; k represents the spring coefficient; p represents the current position of the end of the medical device, and it reaches the position movement boundary; p d indicating the target position of the tip of the medical device beyond the position motion boundary; The second position motion boundary impedance model is expressed as follows: f′ represents the fourth resistance; |f| represents the modulus of the third resistance; k f represents the spring coefficient; a represents the stiffness coefficient; f max Indicates the maximum resistance threshold; Indicates the direction of the fourth resistance.

12. The surgical robot according to any one of claims 1 to 11, characterized in that: The step of determining the joint target driving force expected to be output by the first joint component based on the second resistance comprises: acquiring a speed of the end of the operating portion, and determining a damping force actually acting on the end of the operating portion based on the speed, wherein the damping force is used to actually consume potential energy accumulated when the second resistance acts on the end of the operating portion; Determining a joint target driving force that the first joint component is expected to output based on the second resistance and the damping force; The speed is a generalized speed, and the damping force is a generalized force.

13. The surgical robot according to claim 12, characterized in that: The step of acquiring the speed of the end of the operating part and determining the damping force actually acting on the end of the operating part based on the speed includes: acquiring at least one of a linear velocity and an angular velocity of a distal end of the operating portion; Get the damping force model; Determine the damping force by combining at least one of the linear velocity and the angular velocity and the damping force model; The damping force model is expressed as the following formula: τ damp is the damping force; ω b is the angular velocity; v b is the linear velocity; k ω is the angular velocity damping coefficient; k v is the linear velocity; is the transpose of the Jacobian matrix of the operating part, wherein the Jacobian matrix is ​​determined in real time based on the joint variables of the first joint component of the operating part.

14. The surgical robot according to claim 9, characterized in that: The surgical robot comprises a main arm, a manipulator assembly connected to the main arm, and a puncture device, the manipulator assembly comprises the manipulator and the medical device, a plurality of the medical devices are inserted into a patient through the same puncture device, the puncture device passes through a remote motion center, the remote motion center comprises a position where the puncture device is connected to the patient, and the controller is further configured to: Under the current orientation of the trocar, obtaining first information that the end effector exceeds the position movement boundary; predicting a target orientation of the trocar based on the first information obtained; The movement of the joint assembly in the main arm is controlled according to the target orientation, so that the puncture tool moves around the remote motion center so that the puncture tool reaches the target orientation.

15. The surgical robot according to claim 14, characterized in that: The first information includes at least one of an out-of-bounds position, an out-of-bounds number of times, and an out-of-bounds time when the end effector exceeds the position motion boundary.

16. The surgical robot according to claim 14, characterized in that: When the puncture tool is moved around the remote motion center so that the puncture tool reaches the target orientation, the controller is configured to control the movement of the joint assembly in the manipulator assembly to maintain the position or posture of the end effector; or, Before the puncture tool is moved around the remote motion center so that the puncture tool reaches the target orientation, the controller is configured to control the medical device passing through the puncture tool to retract to a safe position.

17. The surgical robot according to claim 14, characterized in that: The predicting the target orientation of the trocar based on the acquired first information includes: determining a first segment based on the first information, and predicting a target orientation of the trocar based on the first segment; Wherein, predicting the target orientation of the trocar based on the first section includes: Determining a target surgical procedure from a plurality of surgical procedures based on the first section, the target surgical procedure including the end effector covering at least the first section; A target orientation of the trocar is determined according to the target surgical procedure.

18. The surgical robot according to claim 14, characterized in that: The controlling the movement of the joint assembly in the main arm according to the target orientation so that the puncture device moves around the remote motion center so that the puncture device reaches the target orientation comprises: After the delay time is reached, the movement of the joint assembly in the main arm is controlled according to the target orientation, so that the puncture tool moves around the remote motion center so that the puncture tool reaches the target orientation.

19. The surgical robot according to claim 1, characterized in that: The rotation range of the rotation degree of freedom is greater than or equal to 360°, and the rotation range of at least one of the pitch degree of freedom and the yaw degree of freedom is less than 360°.

20. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by the processor to implement the following control method: Acquiring a first target posture of an end effector, and determining a target orientation of the end effector based on the first target posture; When the deviation angle between the target orientation and the initial orientation of the end effector exceeds the orientation movement boundary of the end effector, determining the direction of a first resistance assumed to act on the end effector; determining a magnitude of the first resistance based on the deviation angle and the directional motion boundary; Determine the first resistance based on the direction and magnitude of the first resistance; Determine a first target resistance actually acting on the end of the operating part based on the first resistance, the first resistance being used to hypothetically resist the pitch degree of freedom and / or yaw degree of freedom movement of the end effector toward the first target posture, and the first target resistance being used to actually resist the pitch degree of freedom and / or yaw degree of freedom movement of the end of the operating part toward the second target posture; Determine a first joint target driving torque that is expected to be output by the first joint component based on the first target resistance; controlling the first joint component to output the first joint target driving torque to achieve force feedback on the operating part; The first resistance, the first target resistance, and the first joint target driving force are generalized forces.

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