Wrist, main manipulator, and method for motion control of surgical robot

Abstract

Disclosed are a wrist, a main manipulator, and a method for motion control of a surgical robot, which belong to the technical field of surgical robots, and solve the problem that an existing wrist has a singular position in the motion process. For the method for motion control of the wrist, a third joint (R3) has at least two states: in a non-motion control state, the third joint (R3) is rotated to an angle of 90 degrees, and a second joint (R2) and a fourth joint (R4) are in a vertical state; and in a motion control state, the third joint (R3) rotates within a preset angle range, and the second joint (R2) and the fourth joint (R4) are always in a non-horizontal coincidence state. By limiting the motion angle of the third joint (R3), the situation that the second joint (R2) and the fourth joint (R4) are collinear to generate a singular position is avoided, thereby improving the surgical safety. Moreover, in the non-motion control state, the third joint (R3) rotates to 90 degrees, ensuring that each joint of the wrist has a better adjustable space in the motion adjustment control process, and improving the control effect.

Description

A motion control method for wrist, main manipulator and surgical robot Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a wrist, a main operating hand, and a motion control method of a surgical robot. Background Art

[0002] The development of surgical robots has had a significant impact on the medical field, bringing fundamental technological and conceptual changes to traditional medicine. A surgical robot typically consists of a main operating unit (including the main manipulator) and a patient operating unit (including the arm and wrist).

[0003] As disclosed in patent CN116747028A, as shown in FIG1 , the wrist 10 includes a first L-shaped link 1, a second L-shaped link 2, a third L-shaped link 3, and a handle 4. The first L-shaped link 1 is rotatable about a vertical axis and is connected to the arm as the first joint R1 of the wrist. The second L-shaped link 2 is L-shaped, and one end of the second L-shaped link 2 is rotatable about a horizontal axis and is connected to the first L-shaped link 1 as the second joint R2 of the wrist. The third L-shaped link 3 is rotatably connected to the second L-shaped link 2, and the rotation axis of the third L-shaped link 3 is perpendicular to the horizontal direction and is set as the third joint R3 of the wrist. The handle 4 is rotatably set on the third L-shaped link 3 as the fourth joint R4 of the wrist, and the rotation axis of the handle 4 is set parallel to the horizontal direction.

[0004] When the surgical robot is started, the main operator drives the patient's surgical end to rotate. When the third joint R3 of the wrist 10 rotates to 0° or 180 degrees, the second joint R2 and the fourth joint R4 become horizontally collinear. This is called a singular configuration of wrist movement. That is, when the rotation information of the wrist 10 is transmitted to the patient's surgical end, it cannot be determined whether it is the second joint R2 or the fourth joint R4 that is rotating. As a result, the end instrument at the patient's surgical end cannot obtain accurate position information, posing a surgical risk. Summary of the Invention

[0005] The purpose of the present invention is to provide a wrist, a main manipulator and a motion control method of a surgical robot and a motion method thereof, so as to solve the problem that the wrist of the main manipulator of the existing surgical robot has a singular position during the motion control process.

[0006] To achieve this purpose, the present invention adopts the following technical solution: a wrist motion control method, the wrist comprising a first L-shaped link, a second L-shaped link, a third L-shaped link, and a handle; the first L-shaped link can rotate around a vertical axis and is connected to the arm to form a first joint; one end of the second L-shaped link is rotated around a horizontal axis and is connected to the first L-shaped link to form a second joint; the third L-shaped link is rotatably connected to the second L-shaped link to form a third joint, and the rotation axis of the third L-shaped link is perpendicular to the horizontal direction; the handle is rotatably arranged on the third L-shaped link to form a fourth joint, and the rotation axis of the handle is perpendicular to the horizontal direction, characterized in that the third joint has at least two states:

[0007] In a non-motion control state, the third joint is rotated to 90 degrees, and the second joint and the fourth joint are in a vertical state;

[0008] In the motion control state, the three joints are rotated within a preset angle range, and the second joint and the fourth joint are always in a non-horizontal state.

[0009] Preferably, the method of rotating the third joint to 90 degrees and making the second joint and the fourth joint perpendicular to each other specifically includes:

[0010] Input a motion command to rotate the third joint to 90 degrees;

[0011] Corresponding to the posture of the patient's surgical end, the first joint, the second joint and the fourth joint adjust the posture angles accordingly, and the second joint and the fourth joint are perpendicular.

[0012] Preferably, the step of rotating the third joint within a preset angle range further comprises:

[0013] inputting a motion command to keep the first joint stationary;

[0014] Input a motion instruction to rotate the third joint within a preset angle range, and the second joint and the fourth joint rotate synchronously, and the patient's surgical end posture is adjusted accordingly.

[0015] Preferably, the step of rotating the third joint within a preset angle range further comprises:

[0016] The first joint is kept stationary by a limiting structure;

[0017] The third joint is rotated within a preset angle range by a limiting structure, the second joint and the fourth joint are rotated synchronously, and the surgical end posture of the patient is adjusted accordingly.

[0018] Preferably, the step of rotating the three joints within a preset angle range specifically includes:

[0019] Keeping the first joint stationary, and moving the third joint within a safe angle range, wherein the safe angle range is within the preset angle range;

[0020] When the third joint exceeds the safety angle range and rotates within the preset angle range;

[0021] The third joint stops moving, the first joint rotates, the second joint and the fourth joint rotate synchronously, and the patient's surgical end posture is adjusted accordingly.

[0022] Preferably, when the third joint rotates beyond the safety angle range and within the preset angle range, the method further comprises:

[0023] When the third joint rotates beyond the safety angle range and within the preset angle range, an alarm mechanism is triggered;

[0024] The alarm mechanism can output and display an alarm signal.

[0025] Preferably, the alarm mechanism includes a sensor and a display unit;

[0026] The sensor is capable of receiving a signal and transmitting the signal to a display unit when the third joint rotates beyond a safe angle range.

[0027] As an advantage, the preset angle α1 ranges from 0 to α min ≤α1≤α max <180 degrees;

[0028] Among them, α min and α max You can choose according to the actual structure and performance of your wrist.

[0029] As an advantage, the safety angle β1 ranges from α min +Δ<β1<α max -Δ;

[0030] Among them, Δ is set according to actual needs.

[0031] A motion control method for a master operator includes the above-mentioned motion control method for a wrist.

[0032] A motion control method for a surgical robot includes the motion control method for a main manipulator.

[0033] Beneficial effects of the present invention:

[0034] The present invention provides a motion control method for a wrist, a main operating hand, and a surgical robot. Since the first joint and the second joint of the wrist are always at 90 degrees, the second joint and the third joint are always at 90 degrees, and the third joint and the fourth joint are always at 90 degrees, when the third joint is rotated to 0 degrees or 180 degrees, the second joint and the fourth joint are collinear; when the third joint is rotated to 90 degrees, the second joint and the fourth joint are at 90 degrees; when the wrist is in a motion control state, the third joint is moved within a preset angle range to ensure that the second joint and the fourth joint are always in a non-horizontal state, that is, there will be no problem of the second joint and the fourth joint being collinear and causing a singular position of the wrist movement, thereby ensuring the safety of the operation; and when the wrist is in a non-motion control state, the third joint is rotated to an angle of 90 degrees, and the second joint and the fourth joint are in a vertical state, thereby ensuring that each joint of the wrist has a better adjustable space during the motion adjustment control process, avoiding the problem of repeated adjustment during the wrist movement startup process, and also avoiding the problem of frequent extreme motion positions when the operator holds the handle for movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic structural diagram of a wrist provided by the prior art;

[0036] FIG2 is a flow chart of a wrist motion control method provided in Example 1 of the present invention;

[0037] FIG3 is a flow chart of a non-motion control state of a wrist provided by Embodiment 1 of the present invention;

[0038] FIG4 is a flow chart of the motion control state of the wrist provided by the first embodiment of the present invention;

[0039] FIG5 is a flow chart of the motion control state of the wrist provided by the second embodiment of the present invention;

[0040] FIG6 is a schematic structural diagram of a third joint provided in Example 2 of the present invention;

[0041] FIG7 is a flow chart of a wrist motion control method provided in a third embodiment of the present invention.

[0042] In the figure: 10, wrist; 1, first L-link; 2, second L-link; 3, third L-link; 4, handle; R1, first joint; R2, second joint; R3, third joint; R4, fourth joint; 21, fan-shaped limit slot; 22, limit slider. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0044] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0045] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings. Example

[0047] First, refer to Figure 1, which shows a schematic structural diagram of the existing wrist 10; as shown in Figure 1, the wrist 10 includes a first L-link 1, a second L-link 2, a third L-link 3 and a handle 4, the lower end of the first L-link 1 can rotate around a vertical axis and is connected to the base of the arm to form a first joint R1; the upper end of the second L-link 2 rotates around a horizontal axis and is connected to the upper end of the first L-link 1 to form a second joint R2; the lower end of the third L-link 3 is rotated and connected to the lower end of the second L-link 2 to form a third joint R3, and the rotation axis of the third L-link 3 is set perpendicular to the horizontal direction; the handle 4 is rotatably set at the upper end of the third L-link 3 to form a fourth joint R4, and the rotation axis of the handle 4 is set parallel to the horizontal direction. Those skilled in the art will appreciate that the first joint R1 and the second joint R2 are always at 90 degrees, the second joint R2 and the third joint R3 are always at 90 degrees, and the third joint R3 and the fourth joint R4 are always at 90 degrees; therefore, when the third joint R3 rotates to 0 degrees or 180 degrees, the second joint R2 and the fourth joint R4 are collinear; the collinearity of the second joint R2 and the fourth joint R4 is referred to as a singular position during the movement of the wrist 10.

[0048] Referring to FIG2 , which shows a flow chart of a non-motion control method for the wrist 10 provided in accordance with the first embodiment of the present invention; referring to FIG3 , which shows a flow chart of a non-motion control state of the wrist 10 provided in accordance with the first embodiment of the present invention; as shown in FIG2 and FIG3 , in the non-motion control state of the wrist 10, the third joint R3 is rotated to 90 degrees, and the second joint R2 and the fourth joint R4 are in a vertical state, ensuring that each joint of the wrist 10 has optimal adjustable space during the adjustment movement process, avoiding the need to repeatedly adjust the position of the wrist 10 during the movement of the wrist 10, and also avoiding the operator's frequent movement of the handle 4 to the extreme position. It is worth mentioning that the non-motion control state of the wrist 10 includes adjustments before the wrist 10 motion control state and adjustments after the wrist 10 motion control state. Specifically, the adjustment before the motion control state of the wrist 10 maintains the angle of the third joint R3 at 90 degrees, and the four joints of the wrist 10 are within a better rotation range, that is, they can rotate inward or outward, with a better adjustment effect, preparing for the subsequent wrist 10 motion control adjustment. The adjustment after the wrist 10 is in the motion control state is to adjust the third joint R3 to rotate to 90 degrees and keep it stationary, so as to realize the reset operation of the wrist 10 adjustment operation, that is, the return operation after the wrist 10 motion adjustment, thereby avoiding the problem of repeatedly adjusting the posture of the wrist 10 when the wrist 10 adjustment is started again later, and also avoiding the problem of the operator easily adjusting the wrist 10 to the extreme position of motion during the adjustment process.

[0049] In this embodiment, the angle of the third joint R3 is set to 90 degrees, and the second joint R2 and the fourth joint R4 are perpendicular, specifically including:

[0050] S11, input motion command to rotate the third joint R3 to 90 degrees;

[0051] S12. According to the posture of the patient's surgical end, the first joint R1, the second joint R2 and the fourth joint R4 are adjusted to the corresponding posture angles, and the second joint R2 and the fourth joint R4 are perpendicular.

[0052] In step S11, a motion instruction is input to rotate the third joint R3 to 90 degrees. Specifically, the input motion instruction can be realized by inputting it into a controller that controls the motion angles of each joint. The controller can directly control the motor of the third joint R3 to rotate the angle, making the rotation more precise and the control more convenient, and being able to more efficiently adjust the movement of the wrist 10.

[0053] The actuators for wrist 10's motion angles are motors and other drive devices. Each of the four joints is independently controlled by four motors, enabling precise signal transmission and improving control. The controller can be responsible for controlling wrist 10's motion angles. This controller can output signals solely for wrist 10 movement, control the entire master manipulator, or control the entire surgical robot. Simply receiving signal commands, the controller drives the corresponding actuators for the activated joints.

[0054] In step S12, corresponding to the posture of the patient's surgical end, the first joint R1, the second joint R2 and the fourth joint R4 adjust the posture angles accordingly, and the second joint R2 and the fourth joint R4 are perpendicular. Specifically, due to the change in the angle of the third joint R3, corresponding to the posture of the patient's surgical end, the first joint R1, the second joint R2 and the fourth joint R4 adjust the posture angles accordingly, realizing a one-to-one correspondence between the posture of the wrist 10 (master) and the posture of the patient's surgical end (slave), thereby ensuring the consistency and accuracy of the master-slave control.

[0055] Among them, since the wrist 10 is under the control of a non-motion state, the motion signal of the patient's surgical end is transmitted to the main operator, and the main operator makes motion adjustments corresponding to the motion signal of the patient's surgical end; since the wrist 10 is under the control of a motion state, the motion signal of the main operator is transmitted to the patient's surgical end, and the movement of the patient's surgical end is adjusted according to the motion signal of the main operator.

[0056] Refer to FIG4 , which shows a flow chart of the motion control method for the wrist 10 provided in the first embodiment of the present invention; as shown in FIG4 , in the present embodiment, when the wrist 10 is partially in the motion control state, the third joint R3 is rotated within a preset angle range, and the second joint R2 and the fourth joint R4 are always in a non-horizontal state; it can be understood by those skilled in the art that by limiting the rotation angle of the third joint R3, the possibility of the second joint R2 and the fourth joint R4 overlapping can be completely avoided, that is, there will be no singular position of the wrist 10 during the motion adjustment process, thereby ensuring the safety of the operation. It is worth mentioning that in the motion control method for the wrist 10 in the present embodiment, the existence of singular positions is completely avoided by limiting the motion range of the third joint R3, and it is ensured that the wrist 10 has a relatively ideal motion space during the motion process, thereby ensuring a better motion control effect of the wrist 10.

[0057] In this embodiment, the third joint R3 is rotated within a preset angle range, specifically including:

[0058] S21, inputting a motion instruction to keep the first joint R1 stationary;

[0059] S22 , inputting a motion instruction to rotate the third joint R3 within a preset angle range, causing the second joint R2 and the fourth joint R4 to rotate synchronously, and adjusting the surgical end posture of the patient accordingly.

[0060] In step S21, a motion instruction is input to keep the first joint R1 stationary. Specifically, the input motion instruction can be realized by inputting it into a controller that controls the motion angles of each joint. The controller can directly brake the motor that controls the motion of the first joint R1 to avoid the movement of the first joint R1, so that the second joint R2, the third joint R3 and the fourth joint R4 are not affected by the movement of the first joint R1 during the motion adjustment process. The controller only needs to control the movement of the other three joints, and the control is more precise, which can more effectively adjust the movement of the wrist 10.

[0061] In step S22, a motion instruction is input to make the third joint R3 rotate within a preset angle range, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly. Specifically, the input motion instruction can be realized by inputting it into a controller that controls the motion angle of each joint. The controller can directly control the motor that controls the movement of the third joint R3 to rotate the third joint R3 within a preset angle range. During the rotation of the third joint R3, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly. Not only can the second joint R2 and the fourth joint R4 always be in a non-horizontal overlapping state, but also a one-to-one correspondence between the wrist 10 posture (master) and the patient's surgical end (slave) posture can be achieved, thereby ensuring the consistency and accuracy of the master-slave control.

[0062] It is worth mentioning that there are multiple schemes for the preset angle range of the third joint R3; the preset angle α1 range is 0<α min ≤α1≤α max <180 degrees; ideally, the third joint R3 only needs to move within the range of 0 degrees and 180 degrees, as long as it does not move to 0 degrees and 180 degrees; considering the actual wrist 10 motion control method, it is actually preferred that the third joint R3 moves between 20 degrees and 160 degrees to ensure that the wrist 10 can rotate in a larger space and avoid singular positions during the movement of the wrist 10, that is, α min is 20 degrees, α max After a large number of wrist 10 movement adjustments, when the third joint R3 moves between 34 degrees and 146 degrees, the wrist 10 movement adjustment can fully meet the surgical needs and can perform relatively smooth wrist 10 movement adjustment, with better control effect, that is, α min is 34 degrees, α max It is 146 degrees.

[0063] Those skilled in the art will appreciate that the range of the preset angle can be selected based on the actual structure of the wrist and the performance requirements of the wrist. For example, when a surgical robot is used for routine surgery and the range of motion of the wrist 10 is relatively low, it is only necessary to set the preset angle of the third joint R3 to 34 degrees to 146 degrees, thereby ensuring a larger angle difference between the second joint R2 and the fourth joint R4 and ensuring accurate transmission of the master-slave control signal. For example, when a surgical robot is used for more complex surgery and the range of motion of the wrist 10 is relatively high, it is only necessary to set the preset angle of the third joint R3 to 20 degrees to 160 degrees, thereby comprehensively considering a larger space while ensuring the angle position difference, ensuring safe surgery and accurate transmission of the master-slave control signal. It is worth mentioning that the larger the preset angle range of the third joint R3, the smaller the angle difference between the second joint R2 and the fourth joint R4, that is, the closer the second joint R2 and the fourth joint R4 are to overlap, resulting in a singular position, which directly affects the operability of the master wrist.

[0064] A motion control method for a master manipulator includes the motion control method for the wrist 10 described above.

[0065] Specifically, the main manipulator includes an arm and a wrist 10 ; the arm is used to adjust the movement position, and the wrist 10 is used to adjust the movement angle (posture).

[0066] When the master operator is in non-motion control adjustment, the master operator is controlled by the patient operation end to achieve consistency of master-slave operation; when the master operator corresponds to the position of the patient operation end, the third joint R3 needs to be rotated to 90 degrees, and the second joint R2 and the fourth joint R4 are in a vertical state, ensuring that each joint of the master operator's wrist 10 has the best adjustable space during the passive adjustment movement, avoiding the problem of repeated adjustment during the movement of the wrist 10, and also avoiding the problem of the operator holding the handle 4 being able to frequently move to the extreme position. It is worth mentioning that the non-motion control state of the master operator includes the adjustment before the master operator's motion control state and the adjustment after the master operator's motion control state. Specifically, the adjustment before the master operator's motion control state keeps the angle of the third joint R3 at 90 degrees, and the four joints of the master operator's wrist 10 are in a better rotation range, that is, they can rotate inward or outward, with a better adjustment effect, preparing for the subsequent motion control adjustment of the master operator's wrist 10. After the master operator's wrist 10 is in the motion control state, the third joint R3 is adjusted to rotate to 90 degrees and kept stationary, thereby realizing the resetting operation of the master operator, that is, the return work of the master operator after the motion adjustment. This avoids the problem of repeatedly adjusting the posture of the master operator when the master operator adjustment is started again later, and also avoids the problem of the operator easily adjusting the master operator to the extreme position of the motion during the adjustment process.

[0067] When the master operator is in the motion control state, the patient operation end follows the motion control movement of the master operator to achieve consistency of master-slave operation; when the patient operation end follows the posture of the master operator, it is necessary to rotate the third joint R3 of the wrist 10 of the master operator within a preset angle range, and the second joint R2 and the fourth joint R4 of the wrist 10 are always in a non-horizontal state; those skilled in the art will understand that by limiting the rotation angle of the third joint R3, the possibility of the second joint R2 and the fourth joint R4 overlapping can be completely avoided, that is, the master operator will not have a singular position during the motion adjustment process, ensuring the safety of the operation. It is worth mentioning that in the motion control method of the master operator in this embodiment, the existence of singular positions is completely avoided by limiting the motion range of the third joint R3 of the wrist 10 of the master operator, and it is ensured that the master operator has a relatively ideal motion space during the motion process, ensuring a better master operator motion control effect.

[0068] A motion control method for a surgical robot includes the motion control method for a main manipulator.

[0069] Specifically, the surgical robot includes a main manipulator and a patient operating end; the main manipulator includes an arm and a wrist 10; the arm is used to adjust the movement position, and the wrist 10 is used to adjust the movement angle (posture).

[0070] When the main manipulator of the surgical robot is in non-motion control adjustment, the main manipulator is controlled by the patient's operating end to achieve consistency in master-slave operation; when the main manipulator corresponds to the position of the patient's operating end, the third joint R3 needs to be rotated to 90 degrees, and the second joint R2 and the fourth joint R4 are in a vertical state, ensuring that each joint of the wrist 10 of the main manipulator has the best adjustable space during the passive adjustment movement, avoiding the problem of repeated adjustment during the movement of the wrist 10, and also avoiding the problem of the operator holding the handle 4 being able to frequently move to the extreme position. It is worth mentioning that the non-motion control state of the main manipulator includes the adjustment before the main manipulator's motion control state and the adjustment after the main manipulator's motion control state. Specifically, the adjustment before the main manipulator's motion control state keeps the angle of the third joint R3 at 90 degrees, and the four joints of the main manipulator's wrist 10 are in a better rotation range, that is, they can rotate inward or outward, with a better adjustment effect, preparing for the subsequent motion control adjustment of the main manipulator's wrist 10. After the master operator's wrist 10 is in the motion control state, the third joint R3 is adjusted to rotate to 90 degrees and kept stationary, thereby realizing the reset operation of the master operator, that is, the return work after the master operator's motion adjustment, avoiding the problem of repeatedly adjusting the posture of the master operator when the master operator adjustment is started again later, and also avoiding the problem of the operator easily adjusting the master operator to the extreme position of the motion during the adjustment process.

[0071] When the main manipulator of the surgical robot is in the motion control state, the patient operating end follows the motion control movement of the main manipulator to achieve consistency of master-slave operation; when the patient operating end follows the posture of the main manipulator, the third joint R3 of the wrist 10 of the main manipulator is rotated within a preset angle range, and the second joint R2 and the fourth joint R4 of the wrist 10 are always in a non-horizontal state; those skilled in the art will understand that by limiting the rotation angle of the third joint R3, the possibility of the second joint R2 and the fourth joint R4 overlapping can be completely avoided, that is, the main manipulator of the surgical robot will not have a singular position during the motion adjustment process, thereby ensuring the safety of the operation. It is worth mentioning that in the motion control method of the main manipulator of the surgical robot in this embodiment, the existence of singular positions is completely avoided by limiting the motion range of the third joint R3 of the wrist 10, and the main manipulator of the surgical robot has a relatively ideal motion space during the motion process, thereby ensuring a better motion control effect of the main manipulator of the surgical robot. Example

[0072] Referring to FIG5 , which shows a flow chart of a motion control method for the wrist 10 provided in the second embodiment; as shown in FIG5 , the motion control method for the wrist 10 provided by the present invention differs from that in the first embodiment in that rotating the third joint R3 within a preset angle range further includes:

[0073] S31, keeping the first joint R1 stationary through a limiting structure;

[0074] S32. The third joint R3 is rotated within a preset angle range through a limiting structure, the second joint R2 and the fourth joint R4 are rotated synchronously, and the surgical end posture of the patient is adjusted accordingly.

[0075] In step S31, the first joint R1 remains stationary, which can be achieved through a mechanical structure, specifically a locking mechanism. When a signal is sent to the controller to instruct the first joint R1 to remain stationary, the first joint R1 is locked by the mechanical structure, that is, the first joint R1 cannot move; when a signal is sent to the controller to instruct the first joint R1 to move synchronously, the first joint R1 is locked by unlocking the mechanical structure, that is, the first joint R1 can rotate.

[0076] Those skilled in the art will appreciate that the locking mechanism may be a conventional locking mechanism such as a common locking member. Specifically, upon receiving a locking signal, the locking member extends to lock the rotating shaft of the first joint R1, preventing the first joint R1 from rotating. Upon receiving a release signal, the locking member retracts, allowing the first joint R1 to rotate and perform other movements.

[0077] In step S31, the first joint R1 is kept stationary by inputting a motion instruction or a mechanical structure, as long as the motion of the first joint R1 is restricted. The specific operation of the motion instruction can be learned from a description in one embodiment.

[0078] In step S32, the third joint R3 is rotated within a preset angle range through the limiting structure, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly. Specifically, the limiting structure can directly control the motor that controls the movement of the third joint R3 to rotate the third joint R3 within a preset angle range. During the rotation of the third joint R3, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly. Not only can the second joint R2 and the fourth joint R4 always be in a non-horizontal overlapping state, but also a one-to-one correspondence between the wrist 10 posture (master) and the patient's surgical end (slave) posture can be achieved, thereby ensuring the consistency and accuracy of master-slave control.

[0079] Refer to Figure 6, which shows a structural schematic diagram of the third joint R3 provided in Example 2; as shown in Figure 6, the above-mentioned limiting structure can be realized by the fan-shaped limiting groove 21 and the limiting slider 22, that is, the center angle of the fan-shaped limiting groove is a preset angle range, and the limiting slider 22 can move in the fan-shaped limiting groove 21, that is, the third joint R3 can move within the preset angle range; the motion range of the third joint R3 can be limited by a simple mechanical structure, and the operation is simple and convenient. Example

[0080] Referring to FIG. 7 , which shows a flow chart of a wrist motion control method according to a third embodiment, the present invention provides a wrist motion control method 10 that differs from the first embodiment in that the third joint is rotated within a preset angle range, specifically comprising:

[0081] S41, keeping the first joint R1 stationary and moving the third joint R3 within a safe angle range, where the safe angle range is within a preset angle range;

[0082] S42. When the third joint R3 exceeds the safe angle range and rotates within the preset angle range, the third joint R3 stops moving, the first joint R1 rotates, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly.

[0083] In step S41, the first joint R1 is kept stationary, and the third joint R3 is moved within a safe angle range, and the safe angle range is within a preset angle range. Specifically, the third joint R3 is moved within a safe angle range, and the safe angle range is within a preset angle range, that is, the third joint R3 is moved within a smaller angle range to ensure that the second joint R2 and the fourth joint R4 have a sufficient distance, to avoid the second joint R2 and the fourth joint R4 being close to each other and having a collinear function, and to ensure the reliability of the motion control of the wrist 10.

[0084] In step S42, when the third joint R3 exceeds the safe angle range and rotates within the preset angle range, the third joint R3 stops moving, the first joint R1 rotates, the second joint R2 and the fourth joint R4 rotate synchronously, and the patient's surgical end posture is adjusted accordingly. Specifically, when the third joint R3 exceeds the safe angle range and rotates within the preset angle range, the third joint R3 stops moving, the first joint R1, the second joint R2 and the fourth joint R4 rotate synchronously to perform angle compensation to avoid the second joint R2 and the fourth joint R4 being collinear, that is, to perform more precise control over the motion range of the third joint R3 to ensure the accuracy and reliability of the motion control of the wrist 10.

[0085] It is worth mentioning that when the third joint R3 moves within the safety angle range, the second and fourth joints R4 move accordingly, and the first joint R1 remains stationary; since the safety angle range is smaller than the preset angle range, when the third joint R3 moves beyond the safety angle range but is still within the preset angle range, it may also cause the second joint R2 and the fourth joint R4 to approach, causing the master-slave signal transmission error; therefore, at this time, it is necessary to control the third joint R3 to stop moving, start the first joint R1 to rotate, and drive the second joint R2 and the fourth joint R4 to rotate synchronously for angle compensation, so as to avoid the problem that when the third joint R3 moves to the critical angle, it may affect the transmission accuracy of the master-slave signal.

[0086] For example, the safety angle β1 ranges from α min +Δ<β1<α max -Δ; wherein, Δ is set according to actual surgical needs; for example, the corresponding preset angle range is selected as 0 degrees to 180 degrees (excluding 0 degrees and 180 degrees), and the safety angle range is 1 degree to 179 degrees, that is, the Δ value is 1; ideally, the preset angle range of the third joint R3 movement only needs to move within the range of 0 degrees and 180 degrees, as long as it does not move to 0 degrees and 180 degrees; and thus the safety angle range can be between 1 degree and 179 degrees; when the third joint R3 moves to between 0 and 1 degree, or between 179 and 180 degrees, it is necessary to stop the movement of the third joint R3, and start the movement of the first joint R1, the second joint R2 and the fourth joint R4 to perform angle compensation to avoid the problem of singular position.

[0087] For example, the corresponding preset angle range is 20 degrees to 160 degrees, and the safe angle range is 22 degrees to 158 degrees, that is, the Δ value is 2. Considering the actual wrist 10 motion control method, it is actually preferred that the preset angle range of the third joint R3 is between 20 degrees and 160 degrees to ensure that the wrist 10 can rotate in a larger space and avoid singular positions during the movement of the wrist 10; then the safe angle range can be between 22 degrees and 158 degrees; when the third joint R3 moves to between 20-22 degrees, or between 160 and 158 degrees, the movement of the third joint R3 needs to be stopped, and the first joint R1, the second joint R2, and the fourth joint R4 need to be started for angle compensation to avoid the problem of singular positions.

[0088] For example, the preset angle range is 34 to 146 degrees, and the safe angle range is 37 to 143 degrees, that is, the Δ value is 3. After a large number of wrist 10 movement adjustments, when the third joint R3 moves between 34 and 146 degrees, the wrist 10 movement adjustment can fully meet the surgical requirements, while also enabling relatively smooth wrist 10 movement adjustment and better control. Therefore, the safe angle range can be between 37 and 143 degrees. When the third joint R3 moves between 34 and 37 degrees, or between 146 and 143 degrees, the movement of the third joint R3 needs to be stopped, and the first joint R1, second joint R2, and fourth joint R4 need to be activated for angle compensation to avoid the problem of singular position.

[0089] Furthermore, the third joint R3 rotates beyond the safe angle range, specifically including: the third joint R3 rotating beyond the safe angle range triggers an alarm mechanism; the alarm mechanism is capable of outputting and displaying an alarm signal. The alarm mechanism includes a sensor and a display unit; the sensor is capable of receiving a signal when the third joint R3 rotates beyond the safe angle range and transmitting the signal to the display unit.

[0090] Specifically, when the third joint R3 rotates beyond the safe angle range and enters the early warning mechanism, that is, the alarm mechanism is triggered, the alarm mechanism can release an alarm signal; the sensor of the alarm mechanism measures whether it exceeds the safe angle range, and can transmit the measured signal to the display unit. The user can quickly process according to the display signal of the display unit, thereby improving the safety of the surgical robot operation.

[0091] Among them, the sensor can be an angle sensor or a distance sensor, etc., which transmits the measured angle change or distance change to the alarm mechanism, so that the alarm mechanism can quickly alarm the outside world and ensure the safety of the surgical robot.

[0092] Among them, the display unit may include an alarm light. When the third joint R3 rotates beyond the safe angle range, the alarm light is triggered. The alarm light emits an alarm light, so that the outside world can quickly and accurately obtain the alarm information, and can quickly adjust the motion control according to the actual alarm information to avoid surgical risks.

[0093] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the movement of a wrist, the wrist comprising a first L-type link (1), a second L-type link (2), a third L-type link (3) and a handle (4); the first L-type link (1) can be rotated around a vertical axis to be connected to the arm to form a first joint (R1); one end of the second L-type link (2) is rotated around a horizontal axis to be connected to the first L-type link (1) to form a second joint (R2); the third L-type link (3) is rotationally connected to the second L-type link (2) to form a third joint (R3), and the rotation axis of the third L-type link (3) is arranged perpendicular to the horizontal direction; the handle (4) is rotationally arranged on the third L-type link (3) to form a fourth joint (R4), and the rotation axis of the handle (4) is arranged perpendicular to the horizontal direction, characterized in that: The third joint (R3) has at least two states: In a non-motion control state, the third joint (R3) is rotated to an angle of 90 degrees, and the second joint (R3) and the fourth joint (R4) are in a vertical state; In the motion control state, the three joints (R3) are rotated within a preset angle range, and the second joint (R2) and the fourth joint (R4) are always in a non-horizontal state.

2. The wrist motion control method according to claim 1, characterized in that: The method of rotating the third joint (R3) to 90 degrees so that the second joint (R2) and the fourth joint (R4) are perpendicular to each other specifically includes: Input a motion command to rotate the third joint (R3) to 90 degrees; Corresponding to the posture of the patient's surgical end, the first joint (R1), the second joint (R2) and the fourth joint (R4) adjust the posture angles accordingly, and the second joint (R2) and the fourth joint (R4) are perpendicular.

3. The wrist motion control method according to claim 1, characterized in that: The step of rotating the third joint (R3) within a preset angle range further comprises: Inputting a motion command to keep the first joint (R1) stationary; A motion instruction is input to rotate the third joint (R3) within a preset angle range, the second joint (R3) and the fourth joint (R4) rotate synchronously, and the patient's surgical end posture is adjusted accordingly.

4. The wrist motion control method according to claim 1, characterized in that: The step of rotating the third joint (R3) within a preset angle range further comprises: The first joint (R1) is kept stationary by a limiting structure; The third joint (R3) is rotated within a preset angle range by a limiting structure, the second joint (R2) and the fourth joint (R4) are rotated synchronously, and the patient's surgical end posture is adjusted accordingly.

5. The wrist motion control method according to claim 1, characterized in that: The step of rotating the three joints (R3) within a preset angle range specifically includes: Keeping the first joint (R1) stationary, and moving the third joint (R3) within a safe angle range, wherein the safe angle range is within the preset angle range; When the third joint (R3) exceeds the safe angle range and rotates within the preset angle range, the third joint (R3) stops moving, the first joint (R1) rotates, the second joint (R2) and the fourth joint (R4) rotate synchronously, and the patient's surgical end posture is adjusted accordingly.

6. The wrist motion control method according to claim 5, characterized in that: When the third joint (R3) rotates beyond the safety angle range and within the preset angle range, the method specifically includes: When the third joint (R3) rotates beyond the safety angle range and within the preset angle range, an alarm mechanism is triggered; The alarm mechanism can output and display an alarm signal.

7. The wrist motion control method according to claim 6, characterized in that: The alarm mechanism includes a sensor and a display unit; The sensor is capable of receiving a signal and transmitting the signal to a display unit when the third joint (R3) rotates beyond a safe angle range.

8. The wrist motion control method according to claim 1, characterized in that: The preset angle α1 ranges from 0 to α min ≤α1≤α max <180 degrees; Among them, α min and α max You can choose according to the actual structure and performance of your wrist.

9. The wrist motion control method according to claim 6, characterized in that: The safety angle β1 range is α min +Δ<β1<α max -Δ; Among them, Δ is set according to actual needs.

10. A motion control method for a master operator, characterized in that: A method for controlling the movement of a wrist (10) as described in claims 1-9 is included.

11. A motion control method for a surgical robot, characterized in that: The method includes the motion control method of the master operator as claimed in claim 10.

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