Surgical robot system

Abstract

The present invention provides a surgical robot system, comprising: a master end, a slave end, and a controller. The master end comprises a mechanical arm. The controller comprises a manipulation enhancement module; the manipulation enhancement module is configured to perform the following steps: acquiring at least one of manipulation state information, motion state information, and interaction prompt information; obtaining, based on at least one of the manipulation state information, the motion state information, and the interaction prompt information, a manipulation force; and feeding back the manipulation force to a driving force of the mechanical arm. In this way, by means of the arrangement of the manipulation enhancement module, the manipulation force can be obtained based on at least one of the manipulation state information, the motion state information, and the interaction prompt information. By feeding back the manipulation force to the driving force of the mechanical arm, the operation experience can be effectively optimized, such that the discomfort caused by the lack of tactile feedback can be relieved easily, and an operator can better control the surgical robot system to perform complex surgical tasks.

Description

Surgical robot system Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical robot system. Background Technology

[0002] Current teleoperated surgical robot systems consist of several main parts: a master control unit, a slave robot unit, a communication module, and an image module. The operator issues commands by manipulating the robotic arm of the master control unit, which are then transmitted to the slave robot unit via the communication module. Upon receiving the commands, the slave robot unit replicates the operations of the master control unit and simultaneously transmits the surgical view to the master control unit and the image module via the communication module.

[0003] With the continuous development of technology, the application scope and functions of surgical robot systems are constantly expanding. Currently, surgical robot systems can be applied not only to various surgical fields but also to remote surgical operations. However, with the increase in control distance, latency has become an unavoidable and prominent problem. Latency often causes the operator to feel a disconnect between the master control device and the actual operation, thus increasing surgical risks. Existing technology lacks an effective tactile feedback mechanism, resulting in the operator's inability to accurately perceive the state and position of the slave robot's arm, especially during remote operations. This lack of feedback can cause discomfort for the operator when performing delicate procedures, thereby affecting the quality of the surgery. Summary of the Invention

[0004] The purpose of this invention is to provide a surgical robot system that addresses the problem of existing surgical robot systems lacking an effective tactile feedback mechanism.

[0005] To address the aforementioned technical problems, this invention provides a surgical robot system, comprising: a master end, a slave end, and a controller; the master end includes a robotic arm; the controller includes a control enhancement module, which is configured to perform the following steps: acquiring control state information; obtaining a control force based on the control state information; and feeding the control force back to the driving force of the robotic arm; the step of obtaining the control force based on the control state information includes: obtaining a delay parameter associated with the delay between the master end and the slave end based on the control state information; acquiring the control force at the time before the delay based on the delay parameter; and obtaining the control force at the current time based on the control force at the time before the delay.

[0006] The present invention also provides a surgical robot system, comprising: a master end, a slave end, and a controller; the master end includes a robotic arm; the controller includes a control enhancement module, the control enhancement module being configured to perform the following steps: acquiring motion state information; obtaining a control force based on the motion state information; the motion state information includes master end motion information or slave end motion information; the master end motion information and the slave end motion information respectively include at least one of position information, velocity information, acceleration information, and joint angle information; wherein, the step of calculating the control force includes obtaining the control force at the current moment according to the motion state information and a corresponding preset coefficient. Attached Figure Description

[0007] Figure 1 is a schematic diagram of the surgical robot system according to an embodiment of the present invention.

[0008] Figure 2 is a schematic diagram of the main terminal of an embodiment of the present invention.

[0009] Figure 3 is a schematic diagram of the main control arm according to an embodiment of the present invention.

[0010] Figure 4 is a schematic diagram of the delay of locally controlled surgery according to an embodiment of the present invention.

[0011] Figure 5 is a schematic diagram of the delay in remote-controlled surgery according to an embodiment of the present invention.

[0012] Figure 6 is a schematic diagram of the interactive software interface according to an embodiment of the present invention.

[0013] Figure 7 is a schematic diagram of the physical model of obtaining the main end resistance based on the main end velocity according to an embodiment of the present invention.

[0014] Figure 8 is a control block diagram of the surgical robot system based on master end resistance according to an embodiment of the present invention.

[0015] Figure 9 is a schematic diagram of the physical model of obtaining the slave-end resistance based on the slave-end velocity according to an embodiment of the present invention.

[0016] Figure 10 is a control block diagram of the surgical robot system based on slave-end resistance according to an embodiment of the present invention.

[0017] Figure 11 is a schematic diagram of the physical model of obtaining the master-slave deviation resistance based on the master-slave speed deviation according to an embodiment of the present invention.

[0018] Figure 12 is a control block diagram of the surgical robot system based on master-slave deviation resistance according to an embodiment of the present invention.

[0019] Figure 13 is a control block diagram of the surgical robot system based on the resistance of the master joint in an embodiment of the present invention. Detailed Implementation

[0020] The purpose of this invention is to provide a method for controlling a surgical robot and a surgical robot system, so as to solve the problem that existing surgical robot systems lack an effective tactile feedback mechanism.

[0021] Please refer to Figures 1 to 3, which exemplarily illustrate a surgical robot system, which includes a master control device (hereinafter referred to as "master 10" for ease of description), a slave robot device (hereinafter referred to as "slave 20" for ease of description), a controller (not shown), and an image carriage 30, etc.

[0022] The main end 10 includes a robotic arm 11 (also called the main control arm or main hand), which contains several joints 12 and motors 13. The operator (such as a doctor) can directly operate the robotic arm 11, and the end of the robotic arm 11 is in direct contact with the operator's hand. This contact point is the force interaction center 14. The interaction force is generated by the motors 13 of each joint 12 of the robotic arm 11.

[0023] The slave end 20 includes several manipulator arms 21, which can be used to mount surgical instruments and image acquisition devices (such as endoscopes). The master end 10 and the slave end 20 are configured in a master-slave control relationship. The operation of the master end 10 can be mapped to the slave end 20 through the controller. The movements of the robotic arm 11 driven by the operator are mapped to the movements of the surgical instruments and image acquisition devices on the manipulator arms 21 through the controller, thereby realizing the master-slave mapping operation to perform surgery.

[0024] The images acquired by the image acquisition device are transmitted back to the image trolley 30. After processing by the image trolley 30, they are transmitted to the display device 15 on the main terminal 10 for display by the operator. The operator can then perform operations based on the observed images.

[0025] In applications, the controller, in addition to mapping the operations of the master end 10 and the slave end 20, also provides compensating control forces to the robotic arm 11 of the master end 10 and the operating arm 21 of the slave end 20. This compensates for the effects of factors such as gravity and friction on the robotic arm 11 and the operating arm 21, minimizing the resistance felt by the operator when operating the master end 10 due to the gravity or friction of the robotic arm 11. However, in existing technologies, the operator's operation of the robotic arm 11 of the master end 10 often lacks an effective tactile feedback mechanism. In some scenarios, such as when there is a certain delay between the master and slave ends, the operator feels as if they are manipulating cotton floating in air, causing discomfort during delicate operations and affecting the quality of the surgery.

[0026] To address this problem, embodiments of the present invention provide a surgical robot system, comprising: a master end, a slave end, and a controller; the master end includes a robotic arm; the controller includes a manipulation enhancement module, which is configured to perform the following steps:

[0027] Step S1: Obtain at least one of the following: control status information, motion status information, and interactive prompt information;

[0028] Step S2: Obtain the control force based on at least one of the control state information, the motion state information, and the interactive prompt information;

[0029] Step S3: Feed the control force back to the driving force of the robotic arm 11.

[0030] Optionally, the control force here includes at least one of simulated spring force, simulated inertial force, Cartesian damping, joint damping, gravity compensation force, and friction compensation force. Among these, simulated spring force, simulated inertial force, and Cartesian damping refer to the operational resistance of the robotic arm 11 in Cartesian space; joint damping refers to the resistance (or resistance torque) of the joint 12 in joint space; and gravity compensation force and friction compensation force are compensating control forces for gravity, friction, etc. The control force obtained in step S2 can protect any one or a combination of the aforementioned forces.

[0031] In this embodiment of the invention, by setting up a control enhancement module, the control force can be obtained based on at least one of the control state information, motion state information, and interactive prompt information. By feeding this control force back into the driving force of the robotic arm 11, it is equivalent to providing the operator with a certain resistance or compensation force. This resistance or compensation force can effectively optimize the operating experience, help reduce the discomfort caused by the lack of tactile feedback, and enable the operator to better control the surgical robot system to perform complex surgical tasks.

[0032] The control status information, motion status information, and interactive prompt information referred to in this embodiment will be explained below.

[0033] In some embodiments, the control status information includes communication status information. Communication between the master terminal 10 and the slave terminal 20 can be achieved through network communication, satellite communication, digital communication, multimedia communication, etc., and these different communication methods will have different status information. The communication status information includes at least one of the following: delay, bandwidth, throughput, jitter, bit error rate, and packet loss rate of communication between the master terminal 10 and the slave terminal 20. The delay may include information such as average delay or maximum delay. The communication status information reflects the communication status between the master terminal 10 and the slave terminal 20, and further reflects the delay status between the master terminal 10 and the slave terminal 20.

[0034] Understandably, surgical robot systems employing master-slave mapping operations will inevitably introduce a certain level of master-slave latency. Please refer to Figures 4 and 5, which illustrate local and remote surgical latency, respectively.

[0035] As shown in Figure 4, in locally controlled surgery, the delay includes: the delay t1 from the master terminal 10 outputting the control signal to the slave terminal 20 receiving the signal; the delay t2 from the slave terminal 20 executing the action to the image acquisition device capturing the current image; and the delay t3 from the image carriage 30 outputting the image to the display device 15 of the master terminal 10 imaging.

[0036] As shown in Figure 5, in remotely controlled surgery, the surgical robot system also includes a communication device 40 (such as a server). The master terminal 10 and the slave terminal 20 are configured to exchange data through the communication device 40 to achieve remote operation. The control status information includes the network communication status information of the communication device 40, and the control enhancement module is configured to obtain the control force based on the network communication status information. In remote operation, since the communication device 40 is added, the communication status information includes the network communication status information of the communication device 40. The delays at this time include: the delay t4 from the remote master terminal 10 outputting control signals to the communication device 40 receiving signals; the delay t5 from the communication device 40 outputting control signals to the local slave terminal 20 receiving signals; the delay t6 from the local slave terminal 20 executing actions to the local image acquisition device capturing the current image; the delay t7 from the local image carriage 30 outputting image images to the communication device 40 receiving signals (which may involve encoding and decoding processes); and the delay t8 from the communication device 40 outputting signals to the display device 15 of the remote master terminal 10 imaging.

[0037] Understandably, the aforementioned delays can be mainly divided into two categories: Category A delay is the delay from the instruction from the master terminal 10 to the response from the slave terminal 20, which is t1 for locally controlled surgery and t4+t5 for remotely controlled surgery. Category B delay is the delay from the response from the slave terminal 20 to the imaging from the display device 15, which is t2+t3 for locally controlled surgery and t6+t7+t8 for remotely controlled surgery.

[0038] It is evident that both locally controlled and remotely controlled surgeries involve a certain degree of master-slave latency. To address the issue of operator-perceived asynchrony between the master device 10 and the actual operation, the inventors discovered that applying appropriate control force (resistance) to the robotic arm 11 of the master device 10, considering the latency, can help alleviate discomfort caused by the latency, allowing the operator to better control the robotic arm 11 of the master device 10 to perform complex surgical tasks. Optionally, the number of master devices 10 can be one or more, and different master devices 10 can communicate with the same slave device 20. Furthermore, different master devices 10 can be equipped with corresponding different control enhancement modules and different control forces.

[0039] The previous embodiment described a method for obtaining control force based on communication status information. It is understood that the communication status information may vary depending on the different configurations of the master terminal 10 and the slave terminal 20, as well as their different communication methods. The acquisition of communication status information can be achieved through various devices or sensors. For simplicity, in some embodiments, the control status information includes configuration status information, which is obtained based on at least one of communication status, image frame differences, and motion status. This configuration status information can be considered as information obtained based on automatic or manual configuration of the master terminal 10 and the slave terminal 20.

[0040] In one example, once the master terminal 10 and slave terminal 20 are configured, some parameters between them are essentially fixed. For instance, when the master terminal 10 and slave terminal 20 are configured for remote surgical control, their latency often depends on the communication status. For example, if the master terminal 10 and slave terminal 20 communicate through a dedicated fiber optic network, their communication status can be considered good, and latency testing can be omitted. A relatively low configuration status can be directly configured to obtain lower control force (resistance). Conversely, if the communication status between the master terminal 10 and slave terminal 20 is poor, a relatively high configuration status can be configured to obtain higher control force (resistance).

[0041] In one example, configuration status information can be obtained based on image frame differences. An image frame refers to a frame of an image captured by the image acquisition device. Image frame differences refer to the inter-frame delay and / or the rate of change of the image frames. The inter-frame delay can be obtained by periodically calculating the time difference between image frames. It also reflects the delay between the master end 10 and the slave end 20 to some extent. In one embodiment, the delay of each frame can be calculated using timestamps or a frame difference algorithm. For example, assuming the timestamp of the first image frame is T1 and the timestamp of the second image frame is T2, then the inter-frame delay ΔT = T2 - T1. If the inter-frame delay ΔT is large, i.e., the time difference between consecutive image frames is large, it indicates high latency and a slow system response. A relatively high configuration status information can be configured, resulting in higher controllability (resistance). In other embodiments, the rate of change of image frames can also be obtained by calculating the changes in image frames (e.g., how many frames change per second, or the amount of pixel change between consecutive image frames). If the rate of change of image frames is slow or discontinuous, it may indicate severe latency, allowing for the configuration of relatively high configuration status information and controllability (resistance).

[0042] In one example, configuration status information can be obtained based on motion status, which refers to the position, velocity, acceleration, and other states of the master device 10 and / or slave device 20. Based on the motion status, appropriate configuration status information can be directly configured to meet the requirements. For example, smaller configuration status information is suitable for fast-moving operations, medium configuration status information is suitable for operations requiring a certain level of precision, and larger configuration status information is suitable for high-precision and low-speed operations.

[0043] Of course, the configuration status information can include any two or three of the above-mentioned network status, image frame differences, and motion status. In some embodiments, the configuration status information can be stored in the surgical robot system, for example, in the controller or master terminal 10. After the master terminal 10 and slave terminal 20 are fixed, the configuration status information can be directly stored in the controller based on the master terminal 10 and slave terminal 20. In this way, during subsequent operations, the configuration status information stored in the controller can be automatically read to obtain the appropriate control force to feed back into the driving force of the robotic arm 11.

[0044] In other embodiments, the configuration status information can also be obtained based on interactive hardware or interactive software. Please refer to Figure 6, which shows an example of obtaining configuration status information based on interactive software. The specific medium of the interactive software can be, for example, a touchscreen, optionally located on the main terminal 10 to facilitate operator interaction. Through this touchscreen, the operator can directly input configuration status information, such as by dragging the control resistance setting bar as shown in Figure 6. Interactive hardware includes, for example, DIP switches, physical buttons, etc., which can be set with several fixed levels or can be set infinitely; this embodiment is not limited to this. The operator can also interactively input configuration status information.

[0045] In step S2, the step of calculating the control force based on the control state information includes:

[0046] Step S2A1: Obtain the delay parameter associated with the delay of the master terminal 10 and the slave terminal 20 based on the control state information;

[0047] Step S2A2: Based on the delay parameters, obtain the control force at the moment before the delay;

[0048] Step S2A3: Obtain the control force at the current moment based on the control force at the time before the delay.

[0049] As mentioned earlier, surgical robot systems provide compensating control forces during operation, such as gravity compensation forces and friction compensation forces. Whether the control state information includes communication state information or configuration state information, it essentially manifests as a delay parameter d associated with a delay. The control force at the current moment can be obtained by relating the control force at the time before the delay to the delay parameter d: F(t) = a*F control (td)

[0050] Where: F(t) is the control force at the current moment; F control (td) represents the control force at the moment before the delay. 'a' is an adjustable parameter. Taking a delay parameter 'd' representing a 1-second delay as an example, F... control (td) represents the control force applied one second ago, such as a compensation control force. The current control force F(t) is then obtained by multiplying the compensation control force applied one second ago by the adjustable parameter a. Communication status information or configuration status information within the control status information can be mapped to the delay parameter d for conversion.

[0051] In step S2, the control force can also be obtained based on motion state information. The motion state information includes at least one of master-end motion information, slave-end motion information, and motion deviation information between the master-end 10 and the slave-end 20; the master-end motion information and the slave-end motion information respectively include position information x and velocity information. Acceleration information and at least one of the joint angle information θ; the motion deviation information includes at least one of the position deviation information, velocity deviation information, acceleration deviation information and joint angle deviation information.

[0052] The steps for calculating the control force based on the motion state information include:

[0053] Step S2B1: Obtain the control force at the current moment based on the motion state information and the corresponding preset coefficient.

[0054] The manipulation force in Cartesian space can be modeled as a second-order system, expressed as a second-order ordinary differential equation, with the following form:

[0055] Where: x is the location information (or location deviation information), It is speed information (or speed deviation information). It is acceleration information (or acceleration deviation information), m is the preset virtual mass (or preset virtual inertia), b is the preset damping coefficient, k is the preset stiffness coefficient (spring constant), and F is the control force.

[0056] For the control force in joint space, according to the Cartesian-to-joint-space mapping matrix J T It can be achieved through the formula τ = J T • F enables the conversion between joint torque τ and force F in Cartesian space. This allows for the direct generation of control forces at the joint ends.

[0057] Step S2B1 uses preset coefficients to dynamically obtain the current control force as long as the current motion state information is known. When this force is fed back into the driving force of the robotic arm 11, it can match the current motion of the master end 10 and / or the slave end 20 in real time.

[0058] In step S2, controllability can also be obtained based on interactive prompts. These interactive prompts include at least one of voice prompts, text prompts, graphic prompts, image prompts, and video prompts. These interactive prompts can be obtained based on the operator's voice, input text, provided graphics, images, etc.

[0059] The steps for calculating the control force based on the interactive prompt information include:

[0060] Step S2C1: Based on the interactive prompt information, parse the command information and determine the gain adjustment factor;

[0061] Step S2C2: Based on the control force of the robotic arm 11 at the previous moment, adjust the control force at the current moment according to the command information and the gain adjustment factor.

[0062] Taking interactive prompts that include voice prompts as an example, in step S2C1, the operator's voice prompts (such as voice commands) can be converted into command information through voice recognition. The command information can be in the form of digital signals or text. Furthermore, natural language processing models can be used to analyze the command information and determine the nature of the command (such as "increase force" or "decrease force").

[0063] Furthermore, the gain adjustment factor is determined based on the parsed command information to reflect the degree of control force that the operator wishes to adjust.

[0064] In step S2C2, the gain adjustment factor can participate in the adjustment of the control force in different forms.

[0065] Format 1: The gain adjustment factor can be set with different gain levels, such as "increase by 10%" or "increase by 50%". The adjusted gain adjustment factor K is then used. command To calculate the control force at the current moment: F = K command ·F control

[0066] Among them, F control F represents the control force of the robotic arm 11 at the previous moment, such as the compensation control force before adjustment, while F represents the control force at the current moment, which is the new compensation control force after adjustment.

[0067] Form 2: The gain adjustment factor can be directly set as the increase or decrease in control force ΔF: F = F control +ΔF

[0068] The adjusted new control force F is fed back to the driving force of the robotic arm 11, which can respond to the operator's needs.

[0069] In some embodiments, step S2 may also involve obtaining the control force based on a combination of control state information and motion state information. The steps include:

[0070] Step S2D1: Based on the control state information, set the drag coefficient corresponding to the motion state information;

[0071] Step S2D2: Based on the motion state information and the resistance coefficient, obtain the control force.

[0072] Based on the second-order ordinary differential equation model of the control force described above, any of the preset coefficients can be replaced with the drag coefficient corresponding to the motion state information in step S2D1, so that the control force obtained in step S2D2 is more in line with the current motion state and more in line with the current actual operation requirements.

[0073] Optionally, the control force is obtained through Cartesian space or joint space calculation; the drag coefficient is set according to the method of obtaining the control force. The drag coefficient in step S2D1 corresponds to the motion state information. In some embodiments, the control force is obtained through Cartesian space calculation, where the motion state information includes at least one of position information, velocity information, acceleration information, position deviation information, velocity deviation information, and acceleration deviation information, and the corresponding drag coefficient is also set according to Cartesian space. Corresponding to position information or position deviation information, the drag coefficient is expressed as a virtual spring constant; corresponding to velocity information or velocity deviation information, the drag coefficient is expressed as a damping coefficient; corresponding to acceleration information or acceleration deviation information, the drag coefficient is expressed as a virtual mass. In other embodiments, the control force is obtained through joint space calculation, where the motion state information includes joint angle information, and the drag coefficient is also set accordingly.

[0074] In step S2D1, the drag coefficient is set based on the control status information. As mentioned above, the control status information, whether it includes communication status information or configuration status information, can essentially be converted into a delay parameter d associated with delay. In one embodiment, a drag coefficient Ct based on the delay parameter d and an adjustable parameter kt can be defined, and the drag coefficient Ct can be obtained by the formula Ct = kt * d.

[0075] For example, in one embodiment, the control status information includes communication status information, specifically the communication delay between the master end 10 and the slave end 20. Based on this delay, the delay parameter d can be obtained, and then the drag coefficient Ct can be obtained using the formula Ct = kt * d. In another embodiment, the control status information includes configuration status information, specifically information input from the interactive software. Based on this configuration status information, the delay parameter d can also be quantified, thereby obtaining the drag coefficient Ct.

[0076] In another embodiment, the drag coefficient can also be predicted by a software algorithm. Optionally, step S2D1 includes:

[0077] Step S2D11: Based on the control state information, the drag coefficient is predicted using a trained learning model;

[0078] Step S2D12: After feeding the control force back to the driving force of the robotic arm 11, the driving effect of the robotic arm 11 is monitored, and the parameters of the learning model are adjusted based on the monitoring results.

[0079] The drag coefficient can also be adjusted in real time based on the delay parameter d using software algorithms (such as machine learning). In one example, a learning model can be trained first. This model can be a regression model (such as linear regression or random forest regression) or a neural network model, selected based on the complexity and characteristics of the data. The training process can use historical data, with the goal of predicting the optimal drag coefficient to handle different delay scenarios. The loss function can be set as the difference between the predicted drag coefficient and the actual required drag coefficient.

[0080] The training process may include data collection, feature selection, and data preprocessing steps. Data collection involves acquiring the delay parameter 'd' between the master and slave ends, the speeds of master end 10 and slave end 20, and the current drag coefficient. Feature selection involves extracting key features from the collected data, such as master end speed, slave end speed, delay time, and current drag coefficient. Data preprocessing involves cleaning and standardizing the data to ensure the effectiveness and accuracy of the learning model training.

[0081] After the learning model is trained, the drag coefficient can be predicted in real time based on the real-time monitored delay parameter d and the current motion state of the surgical robot system.

[0082] Furthermore, a feedback mechanism can be set up to predict the drag coefficient using a learning model. In step S2D12, after applying the predicted drag coefficient in practice, the actual driving effect can be monitored through the feedback mechanism. If the actual driving effect is not ideal, the parameters in the learning model can be adjusted through online learning to further improve the prediction accuracy.

[0083] When the control force is obtained through Cartesian space calculations, it can be fed back into the driving force of the robotic arm 11 as a Cartesian space force. When the control force is obtained through joint space calculations, it can be added to the joint 12 of the robotic arm 11 as a joint torque. The following explanation uses the form of Cartesian space force as an example.

[0084] In one example, taking motion state information including velocity information as an example, in a surgical robot system, velocity information can actually be divided into master end velocity V. master , from end velocity V salve and master-slave speed deviation (V) master -V salve ).

[0085] Please refer to Figures 7 and 8, with the main end speed V master Taking the example of the main end speed V, master This refers to the velocity of robotic arm 11 in Cartesian space. It corresponds to the main end velocity V. master The drag coefficient is the main end damping coefficient C vm According to the main end speed V master With the corresponding main end damping coefficient C vm The main end resistance F can be obtained. mastervelocity Its physical model is shown in Figure 7. In Figure 7, the robotic arm 11 moves along the desired operating trajectory 16, and its Cartesian velocity is the master end velocity V. master At this time, a force is applied to the robotic arm 11 that is related to the speed V of the master end. master The main end resistance F in opposite directions mastervelocity This provides resistance feedback to the operator, reducing discomfort caused by delay and improving operational stability. Main end resistance F mastervelocity Based on the main end speed V master and the main end damping coefficient C vm We obtain the following formula: F mastervelocity =C vm ·V master

[0086] Drag coefficient C vmIt can be obtained according to the aforementioned step S2D1, which will not be described in detail here.

[0087] In one embodiment, the control force may include the main end resistance F. mastervelocity The main end resistance F mastervelocity The joint torque τ is obtained by transposing the Jacobi of the master hand, and then combined with the dynamic output of the master hand to obtain the joint torque τ of the master end 10. f Thus, the motor 13 of the robotic arm 11 operates according to the joint torque τ. f Drive it.

[0088] The control block diagram of the entire surgical robot system is shown in Figure 8. Where θ m The angle of joint 12 at the main end 10, X m The Cartesian position of the master terminal 10, V m (i.e. V) master ) with a Cartesian velocity of 10 at the main end, X' m V' m To switch to the master command of the control system, θ s Let θ' be the joint angle from end 20. s For the joint angle that has passed the position velocity limit, τ pd This is the joint torque from end 20.

[0089] Referring to Figures 9 and 10, in another embodiment, since the force on the slave end 20 is also fed back to the master end 10 based on the master-slave mapping, a corresponding slave end resistance can also be generated according to the speed of the slave end 20, thereby obtaining a control force. Specifically, the speed state includes the slave end speed V. slave The end velocity V slave This refers to the velocity of the distal end of the operating arm 21 (which may also include surgical instruments or image acquisition devices, etc.) in Cartesian space. It corresponds to the distal end velocity V. slave The drag coefficient is the end damping coefficient C. vs According to the velocity V at the end slave With the corresponding end damping coefficient C vs The slave-end resistance can be obtained, and its physical model is shown in Figure 10. In Figure 10, the robotic arm 11 moves along the desired operating trajectory 16, and the end of the slave arm 21 moves along the following trajectory 26. Its Cartesian velocity is the slave-end velocity V. slave At this time, a voltage is applied to the end of the operating arm 21 that is related to the speed V at the slave end. slave Opposite direction of end resistance F slavevelocity It can also provide resistance feedback to the operator. The resistance F at the end... slavevelocity Based on the speed V at the end slave and the end damping coefficient C vs We obtain the following formula: F slavevelocity=C vs ·V slave

[0090] In one embodiment, the control force may include the end resistance F. slavevelocity The end resistance F slavevelocity The joint torque τ is obtained by transposing the Jacobi of the master hand, and then combined with the dynamic output of the master hand to obtain the joint torque τ of the master end 10. f Thus, the motor 13 of the robotic arm 11 operates according to the joint torque τ. f The drive is then initiated. The control block diagram of the entire surgical robot system at this point is shown in Figure 10. X s For the Cartesian position of end 20, V s (i.e. V) slave ) represents the Cartesian velocity of end 20. The meanings of the other symbols can be found in Figure 10.

[0091] Please refer to Figures 11 and 12. In another embodiment, the speed V at the main end can also be used as a reference. master With the end velocity V slave The deviation, namely the master-slave speed deviation (V) master -V salve This generates the corresponding master-slave deviation resistance, thereby obtaining the control force.

[0092] Corresponding to master-slave speed deviation (V) master -V salve The drag coefficient of the master-slave velocity deviation damping coefficient C) d Based on the master-slave speed deviation (V) master -V salve ) and the corresponding master-slave velocity deviation damping coefficient C d The master-slave deviation resistance can be obtained, and its physical model is shown in Figure 11. In Figure 11, the robotic arm 11 moves along the desired operating trajectory 16, and its Cartesian velocity is V. master The end of the operating arm 21 at end 20 moves along the following trajectory 26, and its Cartesian velocity is the end velocity V. salve At this time, a master-slave deviation resistance F is applied between the ends of the robotic arm 11 and the manipulator arm 21. deviation It can also provide resistance feedback to the operator. Master-slave deviation resistance F deviation Based on the master-slave speed deviation (V) master -V salve And the master-slave velocity deviation damping coefficient C d We obtain the following formula: F deviation =C d ·(V master -V salve )

[0093] In one embodiment, the control force may include master-slave deviation resistance F.deviation The master-slave deviation resistance F deviation The driving force of the input terminal 10 is compensated. At this time, the control block diagram of the entire surgical robot system is shown in Figure 12.

[0094] It should be noted that the control force may include the main end resistance F. mastervelocity The slave end resistance F slavevelocity and the master-slave deviation resistance F deviation At least one of them. Preferably, the control force may include the main end resistance F. mastervelocity From end resistance F slavevelocity and master-slave deviation resistance F deviation Any two or three of them.

[0095] In step S3, the control force is fed back to the driving force of the robotic arm 11, that is, based on the control force obtained in step S2, and the control force F of the robotic arm 11. control (Including joint position control, dynamic feedforward, etc.) are combined to synthesize the final operating force F. total Specifically, it is as follows: F total =F control +F mastervelocity +F slavevelocity +F deviation

[0096] This is understandable, since the control force can also include the main end resistance F. mastervelocity From end resistance F slavevelocity and master-slave deviation resistance F deviation One or any combination of two, the final operating force F total The synthesis can also be changed accordingly.

[0097] The above embodiment illustrates the calculation of control force using motion state information including velocity information as an example. In other embodiments, the motion state information may also include position information or acceleration information. Position information includes master end position information, slave end position information, and position deviation information between master end 10 and slave end 20. Acceleration information includes master end acceleration information, slave end acceleration information, and acceleration deviation information between master end 10 and slave end 20. Any one or any combination of these information can also be used to calculate control force.

[0098] Using the master location information x m For example, corresponding to the master location information x m The resistance coefficient is the main end spring constant k m Based on the master location information x m With the corresponding main end spring constant k m The simulated spring force F at the main end can be obtained. springSpecifically, it is as follows: F spring =k m ·x m

[0099] The simulated spring force at the slave end and the simulated spring force of the master-slave deviation can be understood accordingly, and will not be elaborated here. The control force may include the simulated spring force F at the master end. spring At least one of the simulated spring force at the slave end and the simulated spring force of the master-slave deviation is fed back into the driving force of the robotic arm 11.

[0100] Using master-end acceleration information a m For example, corresponding to the main end acceleration information a m The drag coefficient is the virtual mass at the main end m m According to the master acceleration information a m With the corresponding master virtual quality m m The simulated inertial force F at the main end can be obtained. inertia Specifically, it is as follows: F inertia =m m ·a m

[0101] The simulated inertial force at the slave end and the simulated inertial force due to master-slave deviation can be understood accordingly, and will not be elaborated further here. The control force may include the simulated inertial force F at the master end. inertia At least one of the simulated inertial force from the slave end and the simulated inertial force from the master-slave deviation is fed back into the driving force of the robotic arm 11.

[0102] Taking the main end 10 as an example, the control force can simultaneously include the main end resistance F. mastervelocity Simulated spring force F at the main end spring Simulated inertial force F at the main end inertia Or, it may include any one of them or a combination of both. The control force based on the slave end 20 and the master-slave bias can be understood accordingly, which will not be elaborated here.

[0103] The control force in the foregoing embodiments is obtained through Cartesian space calculations. In another embodiment, the control force is obtained through joint space calculations. The motion state information in this embodiment includes joint angle information, which further includes at least one of the master joint angle, the slave joint angle, and the master-slave joint angle deviation. The corresponding drag coefficient is set according to the joint rotation. The master joint angle θ... m For example, the drag coefficient at this time corresponds to the joint rotation setting, which is determined by the main joint angle θ. m The joint torque τ corresponding to the resistance of the main end joint can be directly obtained from the corresponding drag coefficient. Furthermore, by combining this joint torque τ with the main hand dynamics output, the joint torque τ of the main end 10 can be obtained. fThus, the motor 13 of the robotic arm 11 operates according to the joint torque τ. f The drive is then initiated. The control block diagram of the entire surgical robot system at this point is shown in Figure 13. The calculations based on the deviations between the end joint angles and the master-slave joint angles can be understood accordingly, and will not be detailed here.

[0104] In summary, the surgical robot system provided by this invention includes: a master end, a slave end, and a controller; the master end includes a robotic arm; the controller includes a control enhancement module, which is configured to perform the following steps: acquiring at least one of control state information, motion state information, and interactive prompt information; obtaining a control force based on at least one of the control state information, motion state information, and interactive prompt information; and feeding the control force back to the driving force of the robotic arm. With this configuration, through the setting of the control enhancement module, the control force can be obtained based on at least one of the control state information, motion state information, and interactive prompt information. By feeding this control force back to the driving force of the robotic arm, it is equivalent to providing the operator with a certain resistance or compensating force. This resistance or compensating force can effectively optimize the operating experience, help alleviate the discomfort caused by the lack of tactile feedback, and enable the operator to better control the surgical robot system to perform complex surgical tasks.

Claims

1. A surgical robot system, characterized in that, include: The system comprises a master terminal, a slave terminal, and a controller; the master terminal includes a robotic arm. The controller includes a control enhancement module, which is configured to perform the following steps: Obtain control status information; Based on the control state information, the control force is obtained; The control force is fed back into the driving force of the robotic arm; The steps for obtaining the control force based on the control state information include: Based on the control state information, a delay parameter associated with the delay of the master end and the slave end is obtained; Based on the delay parameters, the control force at the moment before the delay is obtained; The control force at the current moment is obtained based on the control force at the time before the delay.

2. The surgical robot system according to claim 1, characterized in that, The control status information includes communication status information, which includes at least one of the following: latency, bandwidth, throughput, jitter, bit error rate, and packet loss rate of communication between the master end and the slave end.

3. The surgical robot system according to claim 1, characterized in that, The control status information includes configuration status information, which is obtained based on at least one of communication status, image frame differences, and motion status.

4. The surgical robot system according to claim 3, characterized in that, The configuration status information is stored in the surgical robot system, or the configuration status information is obtained based on interactive hardware or interactive software.

5. The surgical robot system according to claim 1, characterized in that, The control force is also obtained based on motion state information; the motion state information includes at least one of master end motion information, slave end motion information, and motion deviation information between the master end and the slave end; the master end motion information and the slave end motion information respectively include at least one of position information, velocity information, acceleration information, and joint angle information; the motion deviation information includes at least one of position deviation information, velocity deviation information, acceleration deviation information, and joint angle deviation information.

6. The surgical robot system according to claim 1, characterized in that, The control force is also obtained based on interactive prompts; the interactive prompts include at least one of voice prompts, text prompts, graphic prompts, image prompts, and video prompts.

7. The surgical robot system according to claim 1, characterized in that, The control force is also obtained based on motion state information, and the steps for calculating the control force further include: Based on the motion state information and the corresponding preset coefficients, the control force at the current moment is obtained through a physical model.

8. The surgical robot system according to claim 7, characterized in that, The physical model is a second-order system model, and its expression is: Where: x is the location information or the location deviation information. (This refers to the speed information or the speed deviation information) The acceleration information or acceleration deviation information is m, which is a preset virtual mass or preset virtual inertia, b is a preset damping coefficient, k is a preset stiffness coefficient, and F is the control force.

9. The surgical robot system according to claim 1, characterized in that, The control force is also obtained based on interactive prompts, and the steps for calculating the control force further include: Based on the interactive prompts, the command information is parsed and the gain adjustment factor is determined; Based on the control force of the robotic arm at the previous moment, the control force at the current moment is adjusted according to the command information and the gain adjustment factor.

10. The surgical robot system according to claim 5, characterized in that, The steps for obtaining the control force based on the control state information and the motion state information include: Based on the control state information, a drag coefficient corresponding to the motion state information is set; The control force is obtained based on the motion state information and the drag coefficient.

11. The surgical robot system according to claim 10, characterized in that, The step of setting the drag coefficient corresponding to the motion state information based on the control state information includes: Based on the control state information, the drag coefficient is predicted using a trained learning model. After feeding the control force back into the driving force of the robotic arm, the driving effect of the robotic arm is monitored, and the parameters of the learning model are adjusted based on the monitoring results.

12. The surgical robot system according to claim 10, characterized in that, The control force is obtained through calculation in Cartesian space or joint space; the drag coefficient is set according to the method of obtaining the control force.

13. The surgical robot system according to claim 1, characterized in that, The control force includes at least one of simulated spring force, simulated inertial force, Cartesian damping, joint damping, gravity compensation force, and friction compensation force.

14. The surgical robot system according to claim 1, characterized in that, The surgical robot system also includes a communication device, wherein the master end and the slave end are configured to exchange data through the communication device to achieve remote operation; the control status information includes the network communication status information of the communication device, and the control enhancement module is configured to obtain the control force based on the network communication status information.

15. The surgical robot system according to claim 1, characterized in that, The number of master terminals is one or more.

16. The surgical robot system according to claim 1, characterized in that, The control force is obtained based on the control state information, motion state information, and interactive prompt information.

17. The surgical robot system according to claim 1, characterized in that, The control force includes at least one of master-end resistance based on master-end speed, slave-end resistance based on slave-end speed, and master-slave deviation resistance based on master-slave speed deviation.

18. A surgical robot system, characterized in that, include: The system comprises a master terminal, a slave terminal, and a controller; the master terminal includes a robotic arm. The controller includes a control enhancement module, which is configured to perform the following steps: Obtain motion status information; The control force is obtained based on the motion state information; The motion state information includes master end motion information or slave end motion information; the master end motion information and the slave end motion information respectively include at least one of position information, velocity information, acceleration information and joint angle information; The step of calculating the control force includes obtaining the control force at the current moment based on the motion state information and the corresponding preset coefficient.

19. The surgical robot system according to claim 18, characterized in that, The motion state information also includes motion deviation information between the master end and the slave end; the motion deviation information includes at least one of position deviation information, velocity deviation information, acceleration deviation information, and joint angle deviation information.

20. The surgical robot system according to claim 18, characterized in that, The operating force is also obtained based on interactive prompts, and the step of calculating the operating force further includes: Based on the interactive prompts, the command information is parsed and the gain adjustment factor is determined; Based on the control force of the robotic arm at the previous moment, the control force at the current moment is adjusted according to the command information and the gain adjustment factor.

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