Method and system for optical positioning-based intelligent positioning in endoscope surgical robot

Abstract

The present invention relates to the field of robot intelligent positioning technology, and in particular, to a method and system for optical positioning-based intelligent positioning in an endoscope surgical robot. The method comprises: S1: arranging a bedside mechanical arm surgical system; S2: recognizing a plurality of trocar entry points by means of an optical positioning system, and acquiring trocar entry point positions of the plurality of trocar entry points in an optical positioning coordinate system corresponding to the optical positioning system; S3: calculating position information of each joint via a mechanical arm inverse kinematics algorithm for a mechanical arm requiring positioning when the current mechanical arm is required to reach a target pose, by designating the positioning where the axis of an end effector arm pivoting joint is perpendicular to a connection line of a lesion point and the trocar entry point position of the trocar entry point as the target pose; and S4: planning a collision-free motion path for positioning the current mechanical arm to the target position according to the position information of each joint to reach the target pose. The present invention solves the problem of the current vacancy in algorithms for preoperative recognition of trocar entry points in a patient and for mechanical arm positioning recommendation based on the recognized trocar entry points.

Description

An intelligent positioning method and system for a laparoscopic surgery robot based on optical positioning TECHNICAL FIELD

[0001] The present application relates to the technical field of robot intelligent positioning, and in particular to an intelligent positioning method and system for a laparoscopic surgery robot based on optical positioning. BACKGROUND

[0002] Compared with traditional surgery, minimally invasive surgery has the advantages of small incision, fewer postoperative complications, and faster recovery, and is favored by patients. With the wide application of traditional laparoscopic surgery, its limitations have gradually been exposed. For example, it is very difficult to complete numerous in-vivo sutures under traditional laparoscopy in a nephrectomy, and the surgeon needs to have rich open surgery experience and skilled traditional laparoscopic surgery technology. Due to the particularity of the physiological and anatomical structure of some organs and the limitations of traditional laparoscopic technology, in order to achieve the purpose of widespread minimally invasive and fine surgery, a new surgical platform must be developed to solve the problem.

[0003] The application of a laparoscopic surgery robot system solves the clinical needs of minimally invasive and fine surgery. It mainly consists of a surgeon console, a bedside mechanical arm surgery system, and a 3D imaging system. During surgery, the imaging system reflects the surgical field clearly and truly on the console, and the surgeon operates on the console to control the system to accurately transfer the surgeon's actions outside the patient's body to the mechanical arm, which is simultaneously converted into the action of surgical instruments in the patient's body. In the case of not opening the chest or abdomen, the surgery is completed through several hole channels.

[0004] Compared with traditional laparoscopic surgery, the laparoscopic surgery robot has many advantages: (1) advanced imaging technology. The application of high-definition 3D cameras and display equipment makes the surgical field achieve real three-dimensional effect. (2) flexible, fine and stable operation. The system can automatically filter out physiological vibrations and eliminate the adverse effects of the surgeon's hand tremor on the operation. (3) Compared with traditional open surgery, it has small trauma and fast recovery. It reduces the occurrence of postoperative sequelae and complications, thereby reducing the pain of patients, and "day surgery" becomes possible. (4) It saves manpower and makes the surgeon's operation process more comfortable. The surgeon no longer needs to squeeze beside the operating table, which can reduce the surgeon's fatigue and concentrate on work.

[0005] However, the laparoscopic surgery robot system still has the following problems:

[0006] (1) During the implementation of the surgery, due to the influence of passive positioning before the surgery on subsequent surgical operations, the surgery process may be not smooth (for example, collision between mechanical arms, insufficient operation space) or even interrupted and failed.

[0007] (2) Since the laparoscopic surgery robot mechanical arm has relatively more joints, the positioning will take a long time when the hand operation is performed.

[0008] (3) The puncture point planned by the doctor on the patient cannot be detected by the surgical robot system.

[0009] SUMMARY

[0010] In view of the above problems, the purpose of the present application is to provide a laparoscopic surgery robot intelligent positioning method and system based on optical positioning, so as to solve the problem that there is no preoperative patient puncture point identification, and the algorithm based on the identified puncture point is used for mechanical arm positioning recommendation.

[0011] The above invention purpose of the present application is realized by the following technical scheme:

[0012] A laparoscopic surgery robot intelligent positioning method based on optical positioning, comprising the following steps:

[0013] S1: arranging a bedside mechanical arm surgery system of a laparoscopic surgery robot, the bedside mechanical arm surgery system being composed of a trolley and a plurality of mechanical arms formed by connecting adjustment arms and instrument arms;

[0014] S2: identifying a plurality of puncture points of laparoscopic surgery by an optical positioning system, and obtaining puncture point positions of the plurality of puncture points in a corresponding optical positioning coordinate system of the optical positioning system;

[0015] S3: for each mechanical arm that needs to be positioned, taking the positioning when the instrument arm joint axis of the current mechanical arm is perpendicular to the line connecting the lesion point and the puncture point position of the puncture point that the current mechanical arm needs to enter as a target pose, and calculating the position information of each joint when the current mechanical arm needs to reach the target pose by a mechanical arm inverse algorithm;

[0016] S4: planning a collision-free motion path when the current mechanical arm is positioned to the target position according to the position information of each joint when the target pose is reached.

[0017] Further, in step S1, the bedside mechanical arm surgery system of the laparoscopic surgery robot is arranged, the bedside mechanical arm surgery system being composed of a trolley and a plurality of mechanical arms formed by connecting adjustment arms and instrument arms, specifically:

[0018] The adjustment arm is connected with the trolley, and the instrument arm is connected with the adjustment arm.

[0019] The trolley is sequentially composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint and a rotary boom rotating joint, the adjustment arm is composed of a sub-rotary boom rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint and an adjustment arm rotating joint, and the instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint and an instrument arm telescopic joint.

[0020] The optical positioning system is fixed below the lifting plate of the trolley, moves with the rotary boom rotating joint, is used for shooting the body position of the object to be identified under the lifting plate and the puncture point, and acquires the depth information of the puncture point.

[0021] Further, in step S2, before acquiring the puncture point position of a plurality of puncture points of the endoscopic surgery in the optical positioning coordinate system corresponding to the optical positioning system, the method further comprises the following steps:

[0022] Determining the puncture point of the endoscopic surgery and marking, and moving the object to be identified into the identifiable range of the optical positioning system.

[0023] Further, in step S3, for each mechanical arm that needs to be positioned, the positioning of the mechanical arm when the yaw joint axis of the instrument arm in the current mechanical arm is perpendicular to the line connecting the lesion point and the puncture point position of the puncture point that the current mechanical arm needs to enter is taken as the target pose, and the position information of each joint when the current mechanical arm needs to reach the target pose is calculated through the inverse kinematics algorithm of the mechanical arm, specifically:

[0024] Let the target pose of the instrument arm end relative to the optical positioning system be X d , and the current actual pose of the instrument arm end relative to the optical positioning system be X e .

[0025] The operation space error between the target pose and the current actual pose of the instrument arm end is: e=X d -X e

[0026] The derivative of the operation space error calculation formula is calculated:

[0027] According to the differential kinematics, the derivative of the operation space error calculation formula is modified as:

[0028] Wherein, J A is the Jacobian matrix of the mechanical arm containing the position information of each joint, and q is the position information of each joint of the mechanical arm, a velocity of each joint of the mechanical arm;

[0029] a differential kinematics formula of a derivative of the operation space error calculation formula is derived:

[0030] Let where K is a user-defined diagonal matrix, then

[0031] Integrating the formula , the position information of each joint of the mechanical arm of the surgical robot is obtained.

[0032] The diagonal matrix K is specifically:

[0033] where n is the number of joints of the mechanical arm, k1, k2...kn are user-defined eigenvalues, and the larger the eigenvalue is, the faster the convergence speed of the inverse solution is. n

[0034] Further, in step S4, an RRT algorithm is adopted as a path planning algorithm to plan a collision-free motion path of the current mechanical arm when being positioned to the target position according to the position information of each joint when reaching the target pose as required, specifically:

[0035] S41: for each joint in the mechanical arm, a tree T is created as a collision-free motion path of the current joint of the mechanical arm, and a starting point xstart of the current joint motion is taken as an initial node of the tree T;

[0036] S42: a point xrand is randomly sampled from the space that can be shot by the optical positioning system, and then a node xnearest closest to the point xrand in the tree T is found;

[0037] S43: a new node xnew is obtained by performing an expansion operation from the node xnearest in a straight line direction to the point xrand;

[0038] S44: it is checked whether there is an obstacle on a path from the node xnearest to the node xnew, if there is no obstacle, the node xnew is added to the tree T, and an edge is connected between the node xnearest and the node xnew, if the node xnew approaches the target position of the current joint, the tree T is returned;

[0039] S45: steps S42-S44 are repeated until a predetermined maximum iteration number K or other preset stopping condition is reached. ​

[0040] An optical positioning based endoscopic surgery robot intelligent positioning system for performing the optical positioning based endoscopic surgery robot intelligent positioning method as described above, comprising:

[0041] A mechanical arm arrangement module for arranging a bedside mechanical arm surgery system of an endoscopic surgery robot, the bedside mechanical arm surgery system being composed of a trolley and a plurality of mechanical arms connected by adjustment arms and instrument arms;

[0042] A puncture point identification module for identifying a plurality of puncture points of an endoscopic surgery through an optical positioning system, and obtaining puncture point positions of the plurality of puncture points in a corresponding optical positioning coordinate system of the optical positioning system;

[0043] A target position calculation module for each mechanical arm that needs to be positioned, taking the position when the instrument arm bias joint axis of the current mechanical arm is perpendicular to the line connecting the lesion point and the puncture point position of the puncture point that the current mechanical arm needs to enter as the target pose, and calculating the position information of each joint when the current mechanical arm needs to reach the target pose through a mechanical arm inverse solution algorithm;

[0044] A motion path planning module for planning a collision-free motion path when the current mechanical arm is positioned to the target position according to the position information of each joint when the target pose is reached.

[0045] A computer device comprising a memory and one or more processors, the memory having computer code stored therein, the computer code being executed by the one or more processors to cause the one or more processors to perform the method as described above.

[0046] A computer readable storage medium having computer code stored therein, the computer code being executed to perform the method as described above.

[0047] Compared with the prior art, the present application includes at least one of the following beneficial effects:

[0048] By providing an intelligent positioning method for a laparoscopic surgery robot based on optical positioning, an optical positioning system is designed for the laparoscopic surgery robot system, and through optical positioning and image algorithms, a punch point of a to-be-identified object and a to-be-identified object body position planned by a doctor according to a lesion position are identified; through an optimization algorithm based on the punch point and the to-be-identified object body position under conditional constraints, a mechanical arm positioning pose is planned; through a real-time collision detection algorithm, a "zero collision" (collision between mechanical arms, collision between a mechanical arm and the to-be-identified object) path is planned; and the mechanical arm automatically moves to the pose. The obtained mechanical arm positioning pose ensures a large intraoperative operation space of the mechanical arm; the entire identification, planning and positioning algorithm running time is short, the preoperative preparation time is greatly reduced, and the success rate of surgery is improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] Fig. 1 is a whole flowchart of the intelligent positioning method for the laparoscopic surgery robot based on optical positioning of the present application;

[0050] Fig. 2 is a model diagram of the surgical robot of the present application;

[0051] Fig. 3 is a line diagram of the surgical robot of the present application;

[0052] Fig. 4 is a schematic diagram of punch in laparoscopic surgery of the present application;

[0053] Fig. 5 is a schematic diagram of positioning effect in laparoscopic surgery of the present application;

[0054] Fig. 6 is a schematic diagram of the inverse kinematics algorithm of the mechanical arm of the present application;

[0055] Fig. 7 is a whole structure diagram of the intelligent positioning system for the laparoscopic surgery robot based on optical positioning of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the word "comprise" used in the specification of the present application means that the features, integers, steps, operations, elements and / or groups exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, groups and / or their combinations.

[0058] First embodiment

[0059] As shown in FIG. 1, the embodiment provides an intelligent positioning method for endoscopic surgery robot based on optical positioning, comprising the following steps:

[0060] S1: arranging a bedside mechanical arm surgery system of the endoscopic surgery robot, which is composed of a trolley and a plurality of mechanical arms connected by adjustment arms and instrument arms.

[0061] As shown in FIGS. 2 and 3, the adjustment arm is connected with the trolley, and the instrument arm is connected with the adjustment arm.

[0062] The trolley is sequentially composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint and a rotary boom rotating joint, the adjustment arm is composed of a sub-rotary boom rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint and an adjustment arm rotating joint, and the instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint and an instrument arm telescopic joint.

[0063] The circle in FIGS. 2 and 3 is the remote fixed point of the instrument arm, and the arrow direction is the instrument arm yaw joint axis. During the surgery, the trolley and the adjustment arm remain stationary, and the instrument arm moves.

[0064] The optical positioning system is fixed below the lifting plate of the trolley, moves with the rotary boom rotating joint, is used for shooting the body position of the object to be identified and the puncture point below the lifting plate, and obtains the depth information of the puncture point. The relative position between the optical positioning system and each adjustment arm is fixed and known.

[0065] In FIG. 2, Op is the origin of the optical positioning system coordinate system, Base is the origin of the sub-rotary boom rotating joint coordinate system, RCM is the origin of the remote fixed point coordinate system, and Tip is the origin of the mechanical arm end coordinate system.

[0066] Through the positioning of the optical positioning system, the coordinates Top_r1, Top_r2 and Top_r3 of the puncture point relative to the optical positioning system coordinate system can be obtained. During the positioning process, only the sub-rotary boom rotating joint to the instrument arm telescopic joint moves, which is called the active arm, and therefore the angle of the sub-rotary boom rotating joint is defined as cta1, the angle of the adjustment arm telescopic joint is defined as cta2, the joint angle of the adjustment arm lifting joint is defined as cta3, the joint angle of the adjustment arm rotating joint is defined as cta4, the joint angle of the instrument arm yaw joint is defined as cta5, the joint angle of the instrument arm pitch joint is defined as cta6, and the joint angle of the instrument arm telescopic joint is defined as cta7.

[0067] S2: identifying a plurality of puncture points of the endoscopic surgery by the optical positioning system, and obtaining the puncture point positions of the plurality of puncture points in the optical positioning coordinate system corresponding to the optical positioning system.

[0068] Before the several punch points are identified, the doctor needs to determine the punch points on the belly of the object to be identified and mark them (for example, set X), and move the object to be identified to the identifiable range of the optical positioning system under the hanging plate after determining the punch points. The optical positioning system identifies the punch points and obtains coordinates Top_r1, Top_r2 and Top_r3. The general endoscopic surgery punch point is shown in FIG. 4, in which r1 and r2 are surgical instrument holes, r3 is an endoscope hole, and r4 is a lesion site.

[0069] S3: For each of the mechanical arms that need to be positioned, the positioning of the current instrument arm yaw joint axis being perpendicular to the line connecting the lesion point and the punch point position of the punch point to be entered by the current mechanical arm is taken as a target pose, and the position information of each joint when the current mechanical arm needs to reach the target pose is calculated through a mechanical arm inverse solution algorithm.

[0070] As shown in FIG. 5, in the embodiment, two mechanical arms entering the surgical instrument holes are positioned, and the instrument arm yaw joint axes of the two mechanical arms are respectively perpendicular to r1r4 and r2r4. Based on the positioning, the instrument end can be moved to the lesion site by adjusting only the instrument arm yaw joint and the instrument arm extension joint at the beginning of the surgery, and the instrument arm pitch joint can be placed at zero position, so that at the beginning of the surgery, the pitch joint is at the position with the maximum stroke, thereby ensuring the maximum movement space during the entire surgery.

[0071] Here, taking one mechanical arm as an example, a mechanical arm inverse solution algorithm is performed to calculate the positions of each joint when the target mechanical arm reaches the recommended positioning pose, and the function is [cta_target] = Func_Active_Arm(Top_rn), in which cta_target = [cta1, cta2, cta3, cta4, cta5, cta6, cta6], and n = 1, 2, 3.

[0072] As shown in FIG. 6, the mechanical arm inverse solution algorithm is specifically:

[0073] Let the target pose of the instrument arm end relative to the optical positioning system be X d , and the current actual pose of the instrument arm end relative to the optical positioning system be X e .

[0074] The operation space error between the target pose and the current actual pose of the instrument arm end is: e = X d -X e

[0075] The derivative of the operation space error calculation formula is calculated as:

[0076] According to differential kinematics, the derivative of the operation space error calculation formula is modified as:

[0077] Wherein, J A is the Jacobian matrix of the manipulator containing the position information of each joint, q is the position information of each joint of the manipulator, is the velocity of each joint of the manipulator;

[0078] The differential kinematics formula of the derivative of the operation space error calculation formula is derived as:

[0079] Let Wherein K is a user-defined diagonal matrix, then

[0080] Integrate the formula To obtain the position information q of each joint of the manipulator of the surgical robot. Then cta_target=q.

[0081] The diagonal matrix K is specifically:

[0082] Wherein, n is the number of joints of the manipulator, k1, k2...k n Is a user-defined eigenvalue, and the larger the eigenvalue, the faster the convergence speed of the inverse solution.

[0083] S4: According to the position information of each joint when reaching the target pose, a collision-free motion path of the current manipulator when positioning to the target position is planned.

[0084] Specifically, in the embodiment, the RRT algorithm is used as the path planning algorithm to plan a collision-free motion path of the current manipulator when positioning to the target position according to the position information of each joint when reaching the target pose, and specifically:

[0085] S41: For each joint in the manipulator, create a tree T as a collision-free motion path of the current joint of the manipulator, and set the starting point xstart of the current joint motion as the initial node of the tree T;

[0086] S42: Randomly sample a point xrand from the space that can be photographed by the optical positioning system, and then find the node xnearest closest to the point xrand in the tree T;

[0087] S43: performing an expansion operation once along the straight line from the node xnearest to the point xrand in the direction to the point xrand to obtain a new node xnew;

[0088] S44: checking whether there is an obstacle on the path from the node xnearest to the node xnew, if there is no obstacle, adding the node xnew to the tree T and connecting an edge between the node xnearest and the node xnew, if the node xnew approaches the target position of the current joint, returning the tree T;

[0089] S45: repeating steps S42-S44 until a predetermined maximum iteration number K or other preset stopping condition is reached.

[0090] The RRT algorithm can be implemented by using the following pseudo code:

[0091] Wherein, xstart is the starting point (here, the current position of the robot arm), xfinish is the end point (the target position cta_target of the robot arm), and K is the maximum iteration number. The algorithm starts from the starting point, randomly samples a point xrand each time, finds the node xnearest closest to xrand, and proceeds a certain distance along the direction from xnearest to xrand to obtain a new node xnew. If the path from xnearest to xnew does not intersect with the obstacle, xnew is added to the tree, and an edge is connected between xnearest and xnew. If xnew is within the target region xfinish, the tree T is returned. The tree T is also the collision-free motion path of the robot arm.

[0092] Second embodiment

[0093] As shown in FIG. 7, the embodiment provides an optical positioning based endoscopic surgery robot intelligent positioning system for performing the optical positioning based endoscopic surgery robot intelligent positioning method as in the first embodiment, comprising:

[0094] A robot arm arrangement module 1 is configured to arrange a bedside robot arm surgery system of an endoscopic surgery robot, wherein the bedside robot arm surgery system is composed of a trolley and a plurality of robot arms connected by adjustment arms and instrument arms;

[0095] A puncture point identification module 2 is configured to identify a plurality of puncture points of an endoscopic surgery by an optical positioning system, and obtain puncture point positions of the plurality of puncture points in an optical positioning coordinate system corresponding to the optical positioning system;

[0096] A target position calculation module 3 is configured to, for each of the mechanical arms that need to be positioned, calculate the position information of each joint of the current mechanical arm when the current mechanical arm reaches a target pose, wherein the target pose is a pose in which an instrument arm deflection joint axis of the current mechanical arm is perpendicular to a line connecting a lesion point and a punch point position of the punch point that the current mechanical arm needs to enter.

[0097] A motion path planning module 4 is configured to plan a collision-free motion path of the current mechanical arm when the current mechanical arm is positioned to the target position according to the position information of each joint when the current mechanical arm reaches the target pose.

[0098] A computer readable storage medium stores computer code, when the computer code is executed, the above method is executed. Those skilled in the art can understand that all or part of the steps of the above method can be instructed by a program to complete the related hardware, and the program can be stored in a computer readable storage medium, and the storage medium can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0099] The above description is only the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above embodiments. Any technical solution falling within the concept of the present application shall be considered as falling within the protection scope of the present application. It should be noted that, for those skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements shall be considered as falling within the protection scope of the present application.

[0100] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they shall be considered as falling within the scope of the present application.

[0101] It should be noted that the above embodiments can be freely combined as needed. The above description is only the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements shall be considered as falling within the protection scope of the present application.

Claims

1. An intelligent positioning method for a laparoscopic surgical robot based on optical positioning, characterized in that: The following steps are involved: S1: Arrange a bedside robotic arm surgical system for a laparoscopic surgical robot, wherein the bedside robotic arm surgical system comprises a trolley and a plurality of robotic arms connected by adjustment arms and instrument arms; S2: identifying a plurality of punching points for laparoscopic surgery by an optical positioning system, and obtaining positions of the punching points in an optical positioning coordinate system corresponding to the optical positioning system; S3: For each of the robotic arms that need to be positioned, the position where the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the drilling point where the robotic arm needs to enter is used as the target posture, and the position information of each joint required for the current robotic arm to reach the target posture is calculated using the robotic arm inverse solution algorithm; S4: Planning a collision-free motion path for the current robotic arm to be positioned to the target position based on the position information of each joint when the target position is reached.

2. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 1, characterized in that: In step S1, the bedside robotic arm surgical system of the laparoscopic surgical robot is arranged. The bedside robotic arm surgical system is composed of a trolley and a plurality of robotic arms formed by connecting adjustment arms and instrument arms. Specifically, The adjusting arm is connected to the trolley, and the instrument arm is connected to the adjusting arm; The trolley is composed of a large column lifting joint, a boom rotating joint, a boom telescopic joint and a rotary crane rotating joint in sequence; the adjustment arm is composed of a sub-rotary crane rotating joint, an adjustment arm telescopic joint, an adjustment arm lifting joint and an adjustment arm rotating joint; the instrument arm is composed of an instrument arm yaw joint, an instrument arm pitch joint and an instrument arm telescopic joint.

3. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 2, characterized in that: The optical positioning system is fixed under the hanging plate of the trolley and moves along with the rotating joint of the slewing crane. It is used to photograph the position of the object to be identified under the hanging plate and the punching points, and obtain depth information of the punching points.

4. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 2, characterized in that: In step S2, before identifying the plurality of punching points of the laparoscopic surgery by the optical positioning system and obtaining the positions of the punching points of the plurality of punching points in the optical positioning coordinate system corresponding to the optical positioning system, the method further includes: The punching point for laparoscopic surgery is determined and marked, and the object to be identified is moved into the identifiable range of the optical positioning system.

5. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 1, characterized in that: In step S3, for each of the robotic arms that need to be positioned, the position when the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position of the current robotic arm is used as the target posture, and the position information of each joint when the current robotic arm needs to reach the target posture is calculated by the robotic arm inverse solution algorithm, specifically: The target position of the end of the instrument arm relative to the optical positioning system is X d The current actual position of the end of the instrument arm relative to the optical positioning system is X e ; The operating space error between the target posture of the instrument arm end and the current actual posture is: e=X d -X e Calculate the derivative of the operating space error calculation formula: According to differential kinematics, the derivative of the operating space error calculation formula is modified as follows: Among them, J A is the Jacobian matrix of the robotic arm containing the position information of each joint, q is the position information of each joint of the robotic arm, is the speed of each joint of the robotic arm; The differential kinematics formula of the derivative of the operating space error calculation formula is derived: make Where K is a user-defined diagonal matrix, then Formula Integrate to obtain the position information of each joint of the robotic arm of the surgical robot.

6. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 5, characterized in that: The diagonal matrix K is specifically: Where n is the number of joints of the robotic arm, k1, k2...k n It is a custom eigenvalue. The larger the eigenvalue, the faster the inverse solution converges.

7. The intelligent positioning method for laparoscopic surgical robots based on optical positioning according to claim 1, characterized in that: In step S4, the RRT algorithm is used as a path planning algorithm to plan a collision-free motion path when the current robot arm is positioned to the target position according to the position information of each joint when the target position is reached as needed, specifically: S41: For each joint in the robotic arm, create a tree T as a motion path of the current joint of the robotic arm without a collision path, and use the starting point xstart of the current joint motion as the initial node of the tree T; S42: randomly sampling a point xrand from the space that can be captured by the optical positioning system, and then finding the node xnearest closest to the point xrand in the tree T; S43: Perform an extension operation from the node xnearest along a straight line to the point xrand to obtain a new node xnew; S44: Check whether there are any obstacles on the path from the node xnearest to the node xnew. If there are no obstacles, add the node xnew to the tree T and connect an edge between the node xnearest and the node xnew. If the node xnew is close to the target position of the current joint, return to the tree T. S45: Repeat steps S42-S44 until a predetermined maximum number of iterations K or other preset stopping conditions are reached.

8. An optical positioning-based laparoscopic surgical robot intelligent positioning system for executing the optical positioning-based laparoscopic surgical robot intelligent positioning method according to any one of claims 1 to 7, characterized in that: include: The robot arm arrangement module is used to arrange the bedside robot arm surgical system of the laparoscopic surgical robot. The bedside robot arm surgical system consists of a trolley and several robot arms connected by adjustment arms and instrument arms. composition; A punch point recognition module is used to identify a plurality of punch points for laparoscopic surgery through an optical positioning system, and obtain the punch point positions of the plurality of punch points in an optical positioning coordinate system corresponding to the optical positioning system; a target position calculation module for calculating, for each of the robotic arms that need to be positioned, the position where the axis of the yaw joint of the instrument arm in the current robotic arm is perpendicular to the line connecting the lesion point and the punching point position that the robotic arm currently needs to enter as the target position, and calculating, through the robotic arm inverse solution algorithm, the position information of each joint required for the current robotic arm to reach the target position; The motion path planning module is used to plan a collision-free motion path when the current robotic arm is positioned to the target position based on the position information of each joint when the target position is reached.

9. A computer device comprising a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors are caused to perform the method according to any one of claims 1 to 7. 10 . A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method according to claim 1 is performed.

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