WO2021047520A1

WO2021047520A1 - Surgical robot and control method and control device for distal instrument thereof

Info

Publication number: WO2021047520A1
Application number: PCT/CN2020/114113
Authority: WO
Inventors: 高元倩; 叶国强
Original assignee: 深圳市精锋医疗科技有限公司
Priority date: 2019-09-10
Filing date: 2020-09-08
Publication date: 2021-03-18

Abstract

A surgical robot and a control method and a control device for a distal instrument (34) thereof. The control device is used to perform the following steps: acquire initial target poses of respective first distal instruments in a first coordinate system (S1); dividing respective pieces of initial target pose information to obtain respective groups of pose information sets (S2); when at least one group of pose information sets is valid and respective second distal instruments remain at current poses, combining the respective groups of pose information sets to perform calculation, and obtaining first target pose information of a distal end of a mechanical arm (21) in the first coordinate system, second target pose information of the respective second distal instruments in a second coordinate system and third target pose information; and when the first through third target pose information are valid, respectively controlling, according to the first through third target pose information, movement of the mechanical arm (21), a manipulator (31) corresponding to the first distal instrument and a manipulator (31) corresponding to the second distal instrument. The invention enables a surgical field of vision to remain unchanged while expanding a space for operating a distal instrument (34B).

Description

Surgical robot and control method and control device of its terminal equipment

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office on September 10, 2019, the application number is CN 201910854900.5, and the application name is "control methods and control devices for surgical robots and their end devices", all of which are approved The reference is incorporated in this application. This application also requires the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is CN 201910854104.1, and the application title is "control methods, control devices, and storage media for surgical robots and end devices" on September 10, 2019. The entire content is also incorporated in this application by reference.

Technical field

This application relates to the field of medical equipment, and in particular to a control method and control device of a surgical robot and its terminal equipment.

Background technique

Minimally invasive surgery refers to the use of laparoscopy, thoracoscopy and other modern medical instruments and related equipment to perform surgery inside the body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

With the advancement of science and technology, minimally invasive surgery robot technology has gradually matured and been widely used. Minimally invasive surgical robots usually include a master operating table and a slave operating device. The master operating table includes a handle. The doctor sends control commands to the slave operating device through the operating handle. The slave operating device includes a robotic arm and multiple operating arms mounted on the distal end of the robotic arm. , The operating arm has end instruments, which move with the handle when in working state to realize remote surgical operations.

End instruments include image end instruments that provide a surgical field of view and operating end instruments that perform surgical operations. It is often expected that a larger range of motion (that is, operating space, or flexibility) can be provided for operating end instruments under a fixed field of view during surgery. However, due to the limited range of motion of the operating arm itself, it can be considered to expand its range of motion in combination with the motion of the robotic arm. However, changes in the posture of the distal end of the robotic arm can easily lead to undesirable changes in the visual field, which may affect the safety of the operation.

Summary of the invention

Based on this, it is necessary to provide a surgical robot and a control method and a control device for the end instrument that can expand the motion range of the operating end instrument while keeping the visual field unchanged.

In one aspect, there is provided a control method of an end instrument in a surgical robot. The control method includes: an obtaining step of obtaining initial target pose information of each of the controlled operation end instruments; a decomposition step of decomposing each of the initial target positions The pose information obtains a set of pose information, each set of pose information includes the first component target pose information of the distal end of the manipulator in the first coordinate system and the end device of the controlled operation in the second coordinate system. The target pose information of the second component of the coordinate system, the first coordinate system refers to the base coordinate system of the robotic arm, and the second coordinate system refers to the tool coordinate system of the robotic arm; The validity of the pose information set is judged; in the calculation step, when at least one set of the pose information set is valid and the image end device is kept in the current pose, the calculation method is combined with each set of the pose information set. The first target pose information of the distal end of the robotic arm in the first coordinate system, the second target pose information of the image end device in the second coordinate system, and the control operation end devices in the second coordinate system respectively The third target pose information of the system; the second judgment step is to judge the validity of the first target pose information, the second target pose information, and each of the third target pose information; control step , When the first target pose information, the second target pose information, and each of the third target pose information are all valid, the robot arm is controlled to move according to the first target pose information to make The distal end of the robotic arm reaches the corresponding target pose, and the motion of the operating arm corresponding to the end-of-image instrument is controlled according to the second target pose information so that the end-of-image instrument is maintained in the current pose, and according to each The third target pose information controls the movement of the operating arm corresponding to the controlled operation end device so that the controlled operation end device reaches the corresponding target pose.

Wherein, when there is one controlled operation terminal device and the pose information set is valid, the calculation step includes: reaching a target position corresponding to the first component target pose information at the distal end of the robotic arm Under the condition of the pose, convert the current pose information of the image terminal device to obtain its target pose information in the second coordinate system; assign the first component target pose information to the first target pose information, Assign the converted target pose information of the image terminal device in the second coordinate system to the second target pose information, and assign the second component target pose information to the third target pose information .

Wherein, when there are more than two controlled operation end instruments, and one of the pose information sets is valid, and the rest of the pose information sets are invalid, the calculation step includes: reaching and validating at the distal end of the robotic arm Under the condition of the target pose corresponding to the first component target pose information in the pose information set, convert the current pose information of the image end device to obtain its target pose information in the second coordinate system, and Convert the current pose information of the controlled terminal device associated with each invalid pose information to obtain its second desired target pose information in the second coordinate system; add the valid pose information to the set The first component of the target pose information is assigned to the first target pose information, and the target pose information of the image end instrument in the second coordinate system is assigned to the second target pose information, which will effectively The second component target pose information in the pose information set is assigned to the associated third target pose information of the controlled operation end device, and each of the second expected target poses is assigned to the corresponding recipient. Control the third target pose information of the terminal device.

Wherein, when there are a plurality of the controlled operation end devices, and two or more of the pose information sets are valid, and the rest of the pose information sets are invalid, the calculation step includes: reaching and Corresponding to the target pose corresponding to the first component target pose information in each valid pose information set, respectively convert the current pose information of the image end device to obtain its target in the second coordinate system Pose information; judge the validity of each target pose information of the end image device in the second coordinate system; when only one of the target pose information of the end image device is valid, the robot arm Under the condition that the remote end reaches the target pose corresponding to the first component target pose information in the effective pose information set that is associated with the effective target pose information of the end-of-image device, the conversion and the invalid target pose are converted. The current pose information of each controlled terminal device associated with the target pose information set obtains its second expected target pose information in the second coordinate system, and converts it to the rest of the effective target pose information set The associated initial target pose information of each of the controlled operation end instruments obtains its first expected target pose information in the second coordinate system; the validity of each of the first expected target pose information is judged; if Each of the first desired target pose information is valid, and the first component target pose information in the pose information set associated with the target pose information of the effective end image device is assigned to the first Target pose information, assigning the effective target pose information of the end image device to the second target pose information, and associate the pose information with the effective target pose information of the end image device The second component target pose information in the set is assigned to the associated third target pose information of the controlled operation end device, and each of the first expected target pose information and each of the second expected target poses The information is respectively assigned to the corresponding third target pose information of the controlled operation end device; if at least part of the first expected target pose information is invalid, the effective one will be reached at the distal end of the robotic arm. Under the condition of the target pose corresponding to the first component target pose information in the effective pose information set associated with the target pose information of the end-of-image equipment, convert and invalid each of the first expected target poses Information related to the current pose information of the controlled operation end device obtains its second desired target pose information in the second coordinate system; the target pose information of the effective end device of the image is associated with the pose information The first component target pose information in the information set is assigned to the first target pose information, and the effective target pose information of the end image device is assigned to the second target pose information, which will be associated with the effective target pose information. The second component target pose information in the pose information set of the target pose information of the end image device is assigned to the third target pose information of the associated controlled operation end device, which will be valid for each The first desired target pose information is respectively assigned to the corresponding third target pose information of the controlled operation end device, Assign each of the second desired target pose information to the corresponding third target pose information of the controlled operation end device; when two or more of the target pose information of the image end device are valid, Selecting one of the valid target pose information of the end-of-image device as valid, and invalidating the rest, enters the step when only one of the target pose information of the end-of-image device is valid.

Wherein, when there are more than two controlled operation end instruments, and each of the pose information sets is valid, the calculation step includes: reaching at the distal end of the robotic arm and corresponding to each valid pose Under the condition of the target pose corresponding to the first component target pose information in the information set, the current pose information of the image end device is converted to obtain its target pose information in the second coordinate system; The validity of each target pose information of the instrument in the second coordinate system is judged; when only one of the target pose information of the device at the end of the image is valid, the effective image is reached at the far end of the robotic arm. Under the condition of the target pose information associated with the target pose information of the end device and the target pose corresponding to the first component target pose information in the effective pose information set, convert the target pose information associated with the remaining effective target pose information sets The initial target pose information of each controlled operation terminal device obtains its first expected target pose information in the second coordinate system; the validity of each of the first expected target pose information is judged; if all The first desired target pose information is all valid, and the first component target pose information in the pose information set associated with the target pose information of the effective end image device is assigned to the first target pose Pose information, assigning the effective target pose information of the end image device to the second target pose information, which will be associated with the pose information set of the effective target pose information of the end image device The second component of the target pose information is assigned to the associated third target pose information of the controlled operation end device, and each of the first desired target pose information is assigned to the corresponding control operation end device’s The third target pose information; if at least part of each of the first desired target pose information is invalid, reach at the distal end of the manipulator to a valid all that is associated with the effective target pose information of the end image device Under the condition of the target pose corresponding to the first component target pose information in the pose information set, convert the current pose of the controlled operation end device associated with each invalid desired target pose information The information obtains its second desired target pose information in the second coordinate system; the first component target pose information in the pose information set associated with the target pose information of the effective image end device is assigned to The first target pose information assigns the effective target pose information of the end image device to the second target pose information, which will be associated with all the effective target pose information of the end image device The second component target pose information in the pose information set is assigned to the associated third target pose information of the controlled operation end device, and each valid first expected target pose information is assigned to the corresponding The third target pose information of the controlled operation end device, each of the second desired target pose information is assigned to the corresponding third target pose information of the controlled operation end device; When two or more of the target pose information of the end image device are valid, select the target pose of the end image device that will be valid One of the information is regarded as valid, and the rest is regarded as invalid, and enter the step when only one of the target pose information of the image end device is valid.

Wherein, the decomposition step includes: obtaining an input operation command related to the task freedom of the distal end of the robotic arm; combining the task freedom to separately decompose each of the initial target pose information to obtain information including the remote end of the robotic arm A set of pose information of the first component target pose information of the end device in the first coordinate system and the second component target pose information of the controlled operation terminal device in the second coordinate system.

Wherein, the operation command includes a first operation command and a second operation command; the first operation command is associated with the situation that the task freedom of the distal end of the robot arm completely matches the effective degree of freedom of the robot arm; The second operation command is associated with a situation in which the task degree of freedom of the distal end of the robot arm completely matches the posture degree of freedom of the effective degree of freedom of the robot arm.

Wherein, the decomposition step includes: acquiring the current pose information of the distal end of the robotic arm in the first coordinate system; The initial target pose information obtains the second component target pose information; the validity of the second component target pose information is judged; if it is valid, when the controlled operation terminal device arrives with the first component Under the condition of the target pose corresponding to the two-component target pose information, convert the initial target pose information to obtain the first component target pose information; if it is invalid, adjust the second component target pose information to be valid and Update the second component target pose information, and convert the initial target pose under the condition that the controlled terminal device reaches the target pose corresponding to the updated second component target pose information Information to obtain the first component target pose information.

Wherein, the first judgment step includes: judging the validity of the first component target pose information obtained by converting the initial target pose information; if the first component target pose information is valid, judging all The pose information set is valid; if the first component target pose information is invalid, it is determined that the pose information set is invalid.

Wherein, the step of judging the validity of the target pose information includes: parsing the target pose information into target motion state parameters of each joint component in the corresponding arm body, and the arm body is the robot arm or The operating arm; compare the target motion state parameters of the joint components in the arm body with the motion state thresholds of the joint components in the arm body; if the target motion state parameters of the joint components in the arm body are If more than one exceeds the motion state threshold of the corresponding joint component, it is determined that the target pose information is invalid; if the target motion state parameter of each joint component in the arm body does not exceed the motion state threshold of the corresponding joint component, Then it is judged that the target pose information is valid.

Wherein, the step of judging the validity of the target pose information includes: parsing the target pose information into target motion state parameters of each joint component in the corresponding arm body, and the arm body is the robot arm or The operating arm; compare the target motion state parameters of the joint components in the arm body with the motion state thresholds of the joint components in the arm body; if the target motion state parameters of the joint components in the arm body are If more than one exceeds the motion state threshold of the corresponding joint component, it is determined that the target pose information is invalid; if the target motion state parameter of each joint component in the arm body does not exceed the motion state threshold of the corresponding joint component, Then it is judged that the target pose information is valid. In yet another aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program, and the computer program is configured to be executed by more than one processor to implement the method described in any one of the above embodiments. Steps of the control method.

In yet another aspect, a control device for a surgical robot is provided, including: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be processed by the The controller loads and executes the steps for implementing the control method described in any of the above embodiments.

In yet another aspect, a surgical robot is provided, including: a robotic arm; one or more operating arms with end instruments installed at the distal end of the robotic arm, the end instruments including an image end instrument and more than one manipulation end instruments, The operating end instruments are all configured as controlled operating end instruments; and control devices connected to the mechanical arm and the operating arm respectively; the control device is used to implement the implementation of any one of the foregoing embodiments Steps of the control method.

In yet another aspect, a surgical robot is provided, including: a robotic arm; an operating arm installed at the distal end of the robotic arm, the number of operating arms is more than two and each has one end instrument, and the end instrument includes one An image end device and more than one operation end device, at least one of the operation end devices is configured as a controlled operation end device, so that the controlled operation end device is the first end device, except for the first end device The end instrument is a second end instrument; and a control device, which is respectively connected to the mechanical arm and the operating arm, and is configured to perform: the obtaining step, obtaining the first coordinate of each of the first end instruments The initial target pose of the system; the decomposition step is to decompose each of the initial target pose information to obtain a set of pose information sets, and each set of the pose information sets includes the remote end of the robotic arm in the first coordinate system The first component target pose information and the second component target pose information of the first end instrument in the second coordinate system, the first coordinate system refers to the base coordinate system of the robot arm, and the second coordinate system refers to the machine The tool coordinate system of the arm; the first judgment step is to judge the validity of each group of the pose information set; the calculation step, when at least one set of the pose information set is valid, and is in each of the second end instruments The first target pose information of the distal end of the manipulator in the first coordinate system is calculated by combining each set of the pose information under the condition of the current pose, and the first target pose information of each of the first end instruments in the second coordinate system is calculated. The second target pose information of the system, and the third target pose information of each of the second end devices in the second coordinate system; the second judgment step is to determine the validity of the first to third target pose information Make a judgment; a control step, when the first to third target pose information is valid, control the movement of the robot arm according to the first target pose information so that the distal end of the robot arm reaches the corresponding target position Posture, controlling the movement of the operating arm corresponding to the first end device according to the second target posture information so that the first end device reaches the corresponding target posture, and controlling the corresponding operation according to the third target posture information The operating arm of the second end device moves to keep the second end device in the current posture.

This application has the following beneficial effects:

By controlling the movement of the robotic arm to make the end-of-operation equipment reach the target pose, control the movement of the end-of-image equipment to maintain the current posture, thereby enabling the movement of the robotic arm to expand the operating space for operating the end-equipment while maintaining the same field of view. , Its use is convenient and safe.

Description of the drawings

FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot according to this application;

Fig. 2 is a partial schematic diagram of the surgical robot shown in Fig. 1;

Fig. 3 is a partial schematic diagram of the surgical robot shown in Fig. 1;

4 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to the present application;

FIG. 5 is a flowchart of another embodiment of a method for controlling end instruments in a surgical robot according to the present application;

Fig. 6 is a simplified schematic diagram of an embodiment of the surgical robot according to the application in a use state;

FIG. 7 is a flowchart of another embodiment of a method for controlling end instruments in a surgical robot according to the present application;

FIG. 8 is a simplified schematic diagram of another embodiment of the surgical robot according to the application in a use state;

9-12 are flowcharts of different embodiments of the control method of the end instrument in the surgical robot of this application;

13 is a schematic diagram of the principle of the mechanical arm in the arm body mechanism of the surgical robot shown in FIG. 1;

FIG. 14 is a schematic diagram of the analysis of the spatial motion angle in the control method of the surgical robot of this application;

15 is a flowchart of another embodiment of a method for controlling end instruments in a surgical robot according to this application;

16 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to the present application in a two-to-one operation mode;

FIG. 17 is an operation schematic diagram of an embodiment of a method for controlling end instruments in a surgical robot according to the present application in a two-to-one operation mode;

18-19 are flowcharts of another embodiment of a method for controlling end instruments in a surgical robot according to the present application in a two-to-one operation mode;

20 is a schematic diagram of operations in a two-to-one operation mode of another embodiment of a method for controlling end instruments in a surgical robot according to the present application;

FIG. 21 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to the present application in a one-to-one operation mode;

22 is a schematic diagram of the operation of an embodiment of a method for controlling end instruments in a surgical robot according to the present application in a one-to-one operation mode;

Figures 23-24 are flowcharts of different embodiments of the control method of the end instrument in the surgical robot of this application;

FIG. 25 is a flowchart of another embodiment of a method for controlling end instruments in a surgical robot according to the present application;

FIG. 26 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to this application;

FIG. 27 is a simplified schematic diagram of an embodiment of a surgical robot according to the application in a use state;

FIG. 28 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to the present application;

FIG. 29 is a simplified schematic diagram of an embodiment of the surgical robot according to the application in a use state;

Figures 30 to 31 are flowcharts of different embodiments of the control method of the end instrument in the surgical robot of this application;

FIG. 32 is a flowchart of an embodiment of a method for controlling end instruments in a surgical robot according to this application;

FIG. 33 is a schematic structural diagram of another embodiment of a surgical robot according to this application.

detailed description

In order to facilitate the understanding of the application, the application will be described in a more comprehensive manner with reference to the relevant drawings. The preferred embodiments of the application are shown in the accompanying drawings. However, this application can be implemented in many different forms and is not limited to the implementation described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of this application more thorough and comprehensive.

It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or an intermediate element may be present at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only, and are not meant to be the only embodiments. The terms "distal" and "proximal" used in this article are locators, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end far away from the operator during surgery, and "proximal" refers to surgery The end close to the operator during the process.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items. The term "each" as used herein includes one and more. The term "plurality" as used herein includes two or more.

As shown in FIGS. 1 to 3, which are respectively a schematic structural diagram of an embodiment of a surgical robot according to the present application, and a partial schematic diagram thereof.

The surgical robot includes a master operating table 1 and a slave operating device 2. The master console 1 has a motion input device 11 and a display 12. The doctor sends a control command to the slave operation device 2 by operating the motion input device 11, so that the slave operation device 2 performs corresponding operations according to the control command of the doctor to operate the motion input device 11, and The operation area is observed through the display 12. Among them, the slave operating device 2 has an arm body, and the arm body has a mechanical arm 21 and an operating arm 31 detachably installed at the distal end of the mechanical arm 21. The mechanical arm 21 includes a base and a connecting component that are connected in sequence. The connecting component has a plurality of joint components. In the configuration shown in FIG. 1, there are joint components 210 to 214. The operating arm 31 includes a connecting rod 32, a connecting component 33, and an end instrument 34 connected in sequence. The connecting assembly 33 has a plurality of joint components. The operating arm 31 adjusts the posture of the end instrument 34 by adjusting the joint components; the end instrument 34 has an image End instrument 34A and operation end instrument 34B. More specifically, the operating arm 31 is mounted on the power mechanism 22 at the distal end of the mechanical arm 21 and is driven by the driving part of the power mechanism 22. Among them, the robot arm 21 and/or the operating arm 31 can follow the motion input device 11 to move, and the robot arm 21 can also be dragged by applying an external force to move.

For example, the motion input device 11 may be connected to the main console 1 through a wire, or connected to the main console 1 through a rotating link. The motion input device 11 may be configured as a handheld type or a wearable type (often worn on the distal end of the wrist such as a finger or palm), which has multiple effective degrees of freedom. Exemplarily, the motion input device 11 is configured in the form of a handle shown in FIG. 3. In one case, the number of effective degrees of freedom of the motion input device 11 is configured to be lower than the number of task degrees of freedom defined at the distal end of the arm; in another case, the number of effective degrees of freedom of the motion input device 11 is configured It is not less than the number of task degrees of freedom at the distal end of the arm. The number of effective degrees of freedom of the motion input device 11 is at most 6. In order to be able to flexibly control the movement of the arm in Cartesian space, the motion input device 11 is exemplarily configured to have 6 effective degrees of freedom, where The effective degree of freedom of the motion input device 11 refers to the effective degree of freedom that can follow the movement of the hand, so that the doctor has a larger operating space, and can generate more meaningful data through the analysis of each effective degree of freedom, which satisfies almost Control of the robotic arm 21 in all configurations.

The motion input device 11 follows the hand motion of the doctor, and collects the motion information of the motion input device itself caused by the hand motion in real time. These motion information can be parsed into position information, posture information, speed information, acceleration information, and so on. The motion input device 11 includes, but is not limited to, a magnetic navigation positioning sensor, an optical positioning sensor, or a link-type main operator.

In one embodiment, a method for controlling end instruments in a surgical robot is provided. As shown in Figure 4, the control method includes:

Step S1, the obtaining step, namely obtaining the initial target pose information of each controlled operation end device.

The operation end devices 34B installed on the power mechanism 22 are all configured as controlled operation end devices. One operator can control at most two controlled operation end devices 34B at the same time. When there are more than two controlled operation end devices 34B, more than two operators can perform coordinated control.

Step S2, a decomposition step, that is, to decompose each initial target pose information to obtain a set of pose information.

Wherein, each set of pose information includes the first component target pose information of the distal end of the robotic arm in the first coordinate system and the second component target pose information of the controlled operation terminal device in the second coordinate system. The first coordinate system refers to the base coordinate system of the robotic arm, and the second coordinate system refers to the tool coordinate system of the robotic arm.

Step S3, the first judging step, namely judging the validity of each set of pose information.

Specifically, the validity of the two component pose information included in each group of pose information set is judged. When the two component pose information are both valid, the set of pose information is considered valid. Otherwise, the set of pose information is considered valid. The pose information collection is deemed invalid.

Step S4, a calculation step, that is, under the condition that at least one set of pose information is valid and the image end instrument is kept in the current pose, combine each set of pose information to calculate the first position of the distal end of the robotic arm in the first coordinate system. The target pose information, the second target pose information of the image end device in the second coordinate system, and the third target pose information of each controlled operation end device in the second coordinate system.

In this step, it is preferred that each controlled operation end device 34B can reach the first desired posture. If several controlled operation end devices 34B cannot reach the first desired posture, it is expected that these cannot reach the first desired posture. The controlled operation end device 34B can reach the second desired posture. The first expected pose refers to two situations where the target pose corresponding to the initial target pose information (including the initial target pose (which is associated with the motion information input by the controlled motion input device) is consistent with or inconsistent with the current pose ). The second desired posture refers to the current posture. When several controlled operation end instruments 34B cannot reach the first desired posture, it is intended to ensure that it/they can reach the second desired posture to ensure the safety of the operation.

Step S5, the second judgment step, is to judge the validity of the first target pose information, the second target pose information, and the third target pose information.

Step S6, the control step, that is, when the first target pose information, the second target pose information, and the third target pose information are all valid, the robot arm is controlled to move according to the first target pose information to make the robot arm distal Reach the corresponding target pose, control the movement of the operating arm corresponding to the end-of-image device according to the second target pose information to keep the end-of-image device in the current pose, and control the end corresponding to the controlled operation according to the third target pose information The operating arm of the instrument moves to make the controlled operating end instrument reach the corresponding target posture.

Through the above steps S1 to S6, when the acquired first target pose information, second target pose information, and third target pose information are all valid, it is possible to maintain the image end device 34A in the current pose to provide a stable view At the same time, the controlled operation end device 34B can reach the first desired posture or the second desired posture; in addition, it can be combined with the robotic arm and the corresponding operating arm to move together in some scenarios to expand the controlled operation end device 34B. Range of motion to facilitate easier operation.

In one embodiment, specifically in the above step S3, if the posture information sets obtained by the judgment are all invalid, it means that all controlled operation end devices 34B (including one or more controlled operation end devices) do not have Adjustability, therefore, no further steps are entered, that is, the control ends, and step S1 is returned.

In an embodiment, referring to FIGS. 5 and 6, when the controlled operation end device is configured as one and the pose information set is valid, the above step S4, that is, the calculation step includes:

Step S411: Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information, convert the current pose information of the image end device to obtain its target pose information in the second coordinate system.

The current pose information of each end device 34, including the image end device 34A and the controlled operation end device 34B, can be the first coordinate system or the second coordinate system, or other reference coordinate systems. These coordinate systems can essentially interact with each other. Converted. As an example in this document, "current pose information" refers to current pose information in the second coordinate system, and of course, it can also be current pose information in other coordinate systems.

Step S412: Assign the first component target pose information to the first target pose information, assign the converted target pose information of the image end device in the second coordinate system to the second target pose information, and assign the second component The target pose information is assigned to the third target pose information.

In the above step S5, that is, the second judgment step, since the pose information set has been determined to be valid, the first target pose information and the third target pose information are valid. Therefore, it is actually only necessary to determine whether the second target pose information is valid.

If the first to third target pose information are not all valid, the control ends.

If the first to third target pose information are all valid, enter step S6, which is the control step. As shown in FIG. 6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the movement of the operating arm 31B according to the third target pose information so that the controlled operation end device 34B reaches the corresponding target pose (first desired pose).

In an embodiment, referring to Figs. 7 and 8, when the controlled operation end device is configured as multiple, and in step S3, it is determined that only one pose information set is valid, and the rest of the pose information sets are invalid, The foregoing step S4, that is, the calculation step includes:

Step S421, under the condition that the distal end of the robot arm reaches the target pose corresponding to the first component target pose information in the effective pose information set, convert the current pose information of the image end device to obtain its position in the second coordinate system And convert the current pose information of the controlled operation end device associated with each invalid pose information to obtain its second expected target pose information in the second coordinate system.

Step S422: Assign the first component target pose information in the effective pose information set to the first target pose information, and assign the target pose information of the image end instrument in the second coordinate system to the second target pose information , Assign the second component target pose information in the effective pose information set to the third target pose information of the associated controlled operation end device, and assign each second desired target pose to the corresponding controlled operation end The third target pose information of the device.

In the above step S5, the second judgment step, it is actually only necessary to judge whether the second target pose information of the end image device 34A and the third target pose information of the controlled operation end device 34B associated with each invalid pose information set are Effective.

If the first target pose information, the second target pose information, and the third target pose information are not all valid, the control ends.

If the first target pose information, the second target pose information, and the third target pose information are all valid, step S6 is entered, which is a control step. As shown in Figure 8, if the set of pose information associated with the controlled operation end device 34B1 is valid, and the two sets of pose information associated with the controlled operation end device 34B2-34B3 are invalid:

Control the movement of the robotic arm 21 according to the first target pose information so that the power mechanism 22 at the far end reaches the corresponding target pose, and control the movement of the operating arm 31A according to the second target pose information to keep the image end instrument 34A in the current pose , Control the movement of the operating arm 31B according to the third target posture information of the controlled operation end device 34B1 to make the controlled operation end device 34B reach the corresponding target posture (the first desired posture), and according to the controlled operation end device 34B2 The third target pose information of each of ~34B3 controls the movement of the operating arms 31C~31D so that the controlled operation end devices 34B2~34B3 reach the corresponding target pose (the second desired pose, that is, maintain the current pose).

Steps S1 to S6 including steps S421 to S422 are not only applicable to the same robotic arm 21 having three controlled operation end devices 34B as shown in FIG. 8, but also applicable to the same robotic arm 21 having two, and four end devices according to its principle. More than one controlled operation end device 34B.

In an embodiment, referring to Figs. 8 and 9, when there are multiple controlled-operated end devices, and two or more pose information sets are valid, and the rest of the pose information sets are invalid, the foregoing step S4, that is, the calculation step includes:

Step S431: Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in each valid pose information set, the current pose information of the image end device is converted to obtain its current pose information. The target pose information of the second coordinate system.

Step S432, judging the validity of each target pose information of the image terminal device in the second coordinate system.

In this step, if only one of the target pose information of the end image device is valid, step S433 is entered; if more than two of the target pose information of the end image device are valid, step S438 is entered.

Step S433, under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, conversion and invalidation The current pose information of each controlled terminal device associated with the target pose information set obtains its second expected target pose information in the second coordinate system, and converts each receiver associated with the remaining effective target pose information set. Controlling the initial target pose information of the terminal device to obtain its first expected target pose information in the second coordinate system.

In step S434, the validity of each first desired target pose information is judged.

In this step, if all the first desired target pose information is valid, go to step S435; if at least part of the first desired target pose information is invalid, go to step S436.

Step S435: Assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and assign the target pose information of the effective end-of-image equipment Assigned to the second target pose information, the second component of the target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target position of the associated controlled operation end device The posture information, each of the first desired target posture information and each second desired target posture information is assigned to the third target posture information of the corresponding controlled operation end device.

Among them, the effective first desired target pose information is correspondingly assigned to the third target pose information of the associated controlled operation end device; the second desired target pose information is correspondingly assigned to be associated with the invalid target pose information set The third target pose information of the controlled operation end device.

Step S436, under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the effective pose information set, which is associated with the target pose information of the effective end-of-image equipment, conversion and invalidation The current pose information of the controlled operation end device associated with each first desired target pose information obtains its second desired target pose information in the second coordinate system.

Step S437: Assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and assign the target pose information of the effective end-of-image equipment Assigned to the second target pose information, the second component of the target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target position of the associated controlled operation end device Attitude information, each valid first expected target pose information is assigned to the third target pose information of the corresponding controlled operation end device, and each second expected target pose information obtained at different stages (ie conditions) is respectively assigned Assigned to the third target pose information of the corresponding controlled operation end device.

Among them, the effective first desired target pose information is correspondingly assigned to the third target pose information of the associated controlled operation end device; each second desired target pose information is associated with two situations, one of which is related to invalid The target pose information set in the other case is related to the invalid first expected target pose information (converting the first expected pose to the second expected pose), so it needs to be assigned correspondingly to the recipient associated with the corresponding situation. Control and operate the end equipment. Step S438, select one of the effective target pose information of the end-of-image device as valid and the rest as invalid, and enter step S433 when only one of the target pose information of the end-of-image device is valid.

In this step S438, it is possible to configure and form a variety of combinations that regard the target pose information of multiple valid image end devices as valid and invalid, and use the above steps S433 to S437 to perform calculations, and then combine the calculated A set of the first target pose information, the second target pose information, and each third target pose information are all valid to perform the control step of step S6.

In some embodiments, if more than two sets of the first target pose information, the second target pose information, and the third target pose information calculated in different combinations are valid, it can be determined according to some measurement indicators. A certain group in which the first target pose information, the second target pose information, and each third target pose information are all valid is selected to perform the control step of step S6. These metrics include, but are not limited to, more than one of the range of motion, motion speed, and motion acceleration of the arm (mechanical arm or manipulator arm), such as smaller arm motion range, lower motion speed, and lower motion acceleration. One or more of them are selected to select the first target pose information, the second target pose information, and each third target pose information used in step S6. These metrics include, but are not limited to, the number of controlled-operated end devices that can achieve the first expected pose and the second expected pose. It is preferred to control the number of poses that can reach the first expected pose. These measurement indicators can also be combined with each other to select an optimal group to perform the control in step S6.

In some embodiments, the priority may be set for each controlled operation terminal device in advance or in real time (such as by voice command) during the operation of the controlled operation terminal device, and in step S438, the controlled operation terminal device with higher priority may be selected in turn. The target pose information of the effective image end device associated with the operation end device is considered valid, and the rest is considered invalid, so as to ensure that the control object with a higher priority can achieve the first desired pose as much as possible. The priority setting can be set according to the authority of the operator, or according to the specific control object, which can be flexibly configured.

As shown in Figure 8, assuming that the set of pose information associated with the controlled operation end device 34B1 is invalid, and the two sets of pose information associated with the controlled operation end device 34B2-34B3 are all valid, the correlation calculated according to the above step S431 is The target pose information of the image end devices of the controlled operation end devices 34B2 and 34B3 in the second coordinate system are C2 and C3, respectively.

Situation (1.1): Assuming that it is determined in step S432 that both C2 and C3 are invalid, the control ends.

Case (1.2): Suppose that it is determined that C2 is valid and C3 is invalid after step S432.

Based on the first component pose information of a set of pose information sets associated with the controlled operation end device 34B2, the target pose information of the controlled operation end device 34B1 in the second coordinate system is calculated according to step S433 (the second expected target pose Information), and the target pose information of the controlled operation terminal device 34B3 in the second coordinate system (the first desired target pose information).

Assuming that it is determined according to step S434 that the first expected target pose information of the controlled operation end device 34B3 in the second coordinate system is valid:

After the value is assigned in step S435, the process proceeds to step S5, and when the first target pose information, the second target pose information, and the third target pose information are all valid, the process proceeds to step S6. In step S6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the image end instrument 34A maintains the current posture, and controls the movement of the operating arm 31B according to the third target posture information of the controlled operation end device 34B1 to make the controlled operation end device 34B reach the corresponding target posture (the second desired posture, that is, maintain the current position Posture), and control the movement of the operating arms 31C-31D according to the third target posture information of each of the controlled operating end devices 34B2 to 34B3 so that the controlled operating end devices 34B2 to 34B3 reach the corresponding target posture (the first desired posture) ).

Assuming that it is determined according to step S434 that the first expected target pose information of the controlled operation end device 34B3 in the second coordinate system is invalid:

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B2, the second expected target pose information of the controlled operation end device 34B3 in the second coordinate system is calculated according to step S436, and passed After the value is assigned in step S437, the process proceeds to step S5, and when the first target pose information, the second target pose information, and the third target pose information are all valid, the process proceeds to step S6. In step S6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the image end instrument 34A maintains the current pose, and controls the movement of the operating arms 31B, 34D according to the third target pose information of the controlled operating end devices 34B1 and 34B3 so that the controlled operating end devices 34B1 and 34B3 reach the corresponding target poses (the second desired Posture, that is, maintain the current posture), and control the movement of the operating arm 31C according to the third target posture information of the controlled operation end device 34B2 to make the controlled operation end device 34B2 reach the corresponding target posture (the first desired posture) ).

Situation (1.3): Assume that it is determined that both C2 and C3 are valid in step S432.

Choose to regard C2 as valid, C3 as invalid and/or C2 as invalid and C3 as valid, enter the above situation (1.2).

Steps S1 to S6 including steps S431 to S438 are not only applicable to the same robotic arm 21 with three controlled operation end devices 34B as shown in FIG. 8, but also applicable to the same robotic arm 21 having more than four receivers according to its principle. Control the operation of the terminal device 34B.

In one embodiment, referring to Fig. 8 and Fig. 10, when there are more than two (including two or more) end devices for controlled operation, and each posture information set is valid, the above step S4, that is, the calculation step includes:

Step S441: Under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component target pose information in each valid pose information set, the current pose information of the image end device is converted to obtain its current pose information. The target pose information of the second coordinate system.

Step S442, judging the validity of each target pose information of the image terminal device in the second coordinate system.

In this step, if only one of the target pose information of the end image device is valid, step S443 is entered; if more than two of the target pose information of the end image device are valid, step S448 is entered.

Step S443: Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in the effective pose information set, which is associated with the target pose information of the effective end-of-image device, convert it to the other target poses. The initial target pose information of each controlled terminal device associated with the effective target pose information set obtains its first expected target pose information in the second coordinate system.

In step S444, the validity of each first desired target pose information is judged.

In this step, if all the first desired target pose information is valid, go to step S445; if at least part of the first desired target pose information is invalid, go to step S446.

Step S445: Assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and set the target pose information of the effective end-of-image equipment Assigned to the second target pose information, the second component of the target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target position of the associated controlled operation end device Posture information, assigning each first desired target posture information to the third target posture information of the corresponding controlled operation end device.

Step S446, under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, conversion and invalidation The current pose information of the controlled operation end device associated with each first desired target pose information obtains its second desired target pose information in the second coordinate system.

Step S447: Assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and assign the target pose information of the effective end-of-image equipment Assigned to the second target pose information, the second component of the target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target position of the associated controlled operation end device Attitude information, each valid first desired target pose information is assigned to the third target pose information of the corresponding controlled operation terminal device, and each second expected target pose information is assigned to the corresponding controlled operation terminal The third target pose information of the device.

The second expected target pose information here is only associated with the invalid first expected target pose information (converting the first expected pose to the second expected pose).

Step S448, selecting one of the valid target pose information of the end-of-image device as valid and the others as invalid, and enter step S443 when only one of the target pose information of the end-of-image device is valid.

As shown in Figure 8, assuming that the three sets of pose information associated with the controlled operation end devices 34B1 to 34B3 are all valid, the image end devices associated with the controlled operation end devices 34B1, 34B2, and 34B3 calculated according to the above step S441 are in the first The target pose information of the two-coordinate system is C1, C2, and C3 respectively.

Case (2.1): Assuming that it is determined in step S442 that all C1 to C3 are invalid, the control ends.

Case (2.2): Assume that it is determined in step S442 that only C1 is valid, and C2 and C3 are invalid.

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B1, the target pose information of the controlled operation end device 34B2, 34B3 in the second coordinate system (the first desired target) is calculated according to step S433. Pose information).

Assuming that it is determined according to step S444 that the first expected target pose information of the controlled operation end devices 34B2 and 34B3 in the second coordinate system is valid:

After the assignment is performed in step S445, the process proceeds to step S5, and when the first target pose information, the second target pose information, and the third target pose information are all valid, the process proceeds to step S6. In step S6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the image end instrument 34A maintains the current posture, and controls the operating arms 31B to 31D to move to the corresponding target posture (first desired posture) according to the third target posture information of the controlled operation end devices 34B1 to 34B3, respectively.

Suppose it is determined according to step S444 that the first expected target pose information of the controlled operation end device 34B2 and 34B3 in the second coordinate system is at least partially invalid, for example, the first expected target pose information of the controlled operation end device 34B2 in the second coordinate system The information is valid, and the controlled operation terminal device 34B3 is invalid in the first expected target pose information in the second coordinate system:

Based on the first component pose information of a set of pose information sets associated with the controlled operation end device 34B1, the second expected target pose information of the controlled operation end device 34B3 in the second coordinate system is calculated according to step S446, and passed After the assignment in step S447, proceed to step S5, and when the first target pose information, the second target pose information, and the third target pose information are all valid, proceed to step S6. In step S6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the image end instrument 34A maintains the current pose, and controls the operating arms 31B-31C to move to the corresponding target pose (the first desired pose) according to the third target pose information of the controlled operating terminal device 34B1-34B2, and according to the controlled operation end The third target pose information of the instrument 34B2 corresponds to control the movement of the operating arm 31D to reach the corresponding target pose (the second desired pose).

Assuming that it is determined according to step S444 that the first expected target pose information of the controlled operation end devices 34B2 and 34B3 in the second coordinate system is invalid:

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B1, the second expected target pose information of the controlled operation end device 34B2, 34B3 in the second coordinate system is calculated according to step S446, After the assignment is performed in step S447, the process proceeds to step S5, and when the first target pose information, the second target pose information, and the third target pose information are all valid, the process proceeds to step S6. In step S6, the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the image end instrument 34A maintains the current posture, and controls the operating arm 31B to move to the corresponding target posture (the first desired posture) according to the third target posture information of the controlled operation end device 34B1, and according to the controlled operation end device 34B2, 34B3 The third target pose information corresponding to control the

operation arms

31C, 31D to move to the corresponding target pose (the second desired pose).

Steps S1 to S6 including steps S441 to S448 are not only applicable to the same robotic arm 21 having three controlled operation end devices 34B as shown in FIG. 8, but also applicable to the same robotic arm 21 having two, or four, according to the principle. More than one controlled operation end device 34B.

Through the above-mentioned embodiment, by combining the movement of the mechanical arm 21 and the operating arm 31, it is possible to ensure that the controlled operation end instrument 34B can reach the first desired position to achieve the purpose of the operation under the condition that the end-of-image instrument 34A is kept in the current posture. If the first desired posture cannot be reached, it will try to ensure that the controlled operation end instrument 34B remains in the current posture to reduce the risk of surgery.

In an embodiment, as shown in FIG. 11, the above step S1, that is, the obtaining step includes:

Step S11: Obtain the motion information of the motion of the remotely operated controlled object input by the motion input device.

The controlled object specifically refers to the controlled operation end device in this article.

Step S12: Analyze the motion information as the initial target pose information of the controlled object.

Generally, the motion information may be the pose information of the motion input device.

In an embodiment, as shown in FIG. 12, this step S12 includes:

Step S121: Analyze and map the motion information into the pose increment information of the controlled object.

Among them, "mapping" is a conversion relationship, which can include natural mapping relationships and unnatural mapping relationships.

The natural mapping relationship is a one-to-one correspondence, which refers to the horizontal movement increment information between the controlled motion input device and the controlled object to the horizontal movement increment information, the vertical movement increment information to the vertical movement increment information, front and back Move incremental information to forward and backward movement incremental information, yaw angle rotation increment information to yaw angle rotation increment information, pitch angle rotation increment information to pitch angle rotation increment information, and roll angle rotation increment information to roll angle Rotate incremental information.

The unnatural mapping relationship is a mapping relationship other than the natural mapping relationship. In an example, the unnatural mapping relationship includes, but is not limited to, a conversion mapping relationship, which includes, but is not limited to, the aforementioned one-to-one mapping of the horizontal movement increment information, the vertical movement increment information, and the rotation increment information of the fixed coordinate system. It is the yaw angle increment information, pitch angle increment information and roll angle increment information of the controlled object. Configured as an unnatural mapping relationship, it is easier to control the controlled object in certain situations such as the two-to-one operation mode.

Step S122: Obtain position information of each joint component in the controlled object.

Specifically, the corresponding position information can be obtained through position sensors such as encoders installed at each joint component of the controlled object. In the embodiment illustrated in FIGS. 1 and 13, the robot arm 21 has 5 degrees of freedom, and such a set of position information (d1, θ ₂ , θ ₃ , θ ₄ , θ ₅ ) can be collected by means of position sensors. .

Step S123: Calculate the current pose information of the controlled object in the first coordinate system according to the position information of each joint component.

Among them, the calculation can usually be combined with positive kinematics. Establish a kinematic model of the fixed point of the robot arm 21 (ie at point C, the origin of the tool coordinate system of the robot arm 21 is on the fixed point) to the base of the robot arm 21, and output the model conversion between point C and the base matrix

The calculation method is

Step S124, combining the incremental pose information and the current pose information to calculate the initial target pose information of the controlled object in the first coordinate system.

Among them, according to the model conversion matrix of point C and the base

Get the pose information of point C in the fixed coordinate system. Assuming that without changing the position of point C, rotate the coordinate system of point C to reach the posture described by the model conversion matrix, and the rotation axis angle [θ _x0 ,θ _y0 ,θ _z0 ] can be obtained, as shown in Figure 14. . θ _x0 is the rolling angle, θ _y0 is the yaw angle, and θ _z0 is the pitch angle. In fact, in the robotic arm 21 shown in FIG. 13, the degree of freedom of the rolling angle is lacking and θ _x0 is actually not adjustable. For example, the fixed coordinate system can be defined at the display, of course, it can also be defined at least at a position that is not movable during work.

Further, specifically in the above-mentioned step S6, that is, the control step, the control of the control object, that is, the robotic arm, the end-of-image device, and the end-of-operation device may include the following steps:

Calculate the target position information of the corresponding joint components according to the target pose information of the remote end of the control object. For example, it can be calculated by inverse kinematics.

According to the target position information of each joint component, each joint component in the control object is controlled to link to reach the corresponding target pose.

In an embodiment, as shown in FIG. 15, this step S12 includes:

Step S125: Obtain a selection instruction related to the operation mode type input for the controlled object.

The operation mode includes two-to-one operation mode and one-to-one operation mode. The two-to-one operation mode refers to the use of two controlled motion input devices to control a controlled object, and the one-to-one operation mode refers to the use of one controlled motion input device to control a controlled object. Control a controlled object. When controlling the movement of a controlled object, you can choose to use one-to-one operation mode or two-to-one operation mode. For the one-to-one operation mode, it is possible to further select which motion input device is used as the controlled motion input device for control. For example, when the same operator moves both hands, depending on the configuration, it can be a two-to-one operation mode for one controlled object, or it can be a one-to-one operation mode for two controlled objects separately control. When the surgical robot provides enough motion input devices, this is still applicable to more than two operators.

In step S126, the motion information input by the controlled motion input device is obtained in combination with the type of operation mode, and the motion information is parsed and mapped into the incremental pose information of the remote end of the controlled object in the first coordinate system.

In an embodiment, for the one-to-one operation mode, for example, the pose information P of the corresponding controlled motion input device 11 at the nth time _{can be obtained by the formula P n} =KP _{n, where K is the scale factor, and generally, K} >0, better, 1≥K>0, in order to achieve zoom in and out of pose for easy control.

In an embodiment, for the two-to-one operation mode, for example, the pose information P of the corresponding two controlled motion input devices 11 at the nth time _{can be obtained by the formula P n} =K ₁ P _nL + K ₂ P _{nR, where,} K ₁ and K ₂ respectively represent the scale coefficients of different motion input devices 11, usually, K ₁ >0, K ₂ >0; more preferably, 1≥K ₁ >0, 1≥K _{2 >0.}

_{When calculating the incremental pose information Δp n_n-1} of the controlled motion input device 11 corresponding to the one-to-one operation mode or the two-to-one operation mode at a certain time before and after, it can be calculated according to the following formula:

Δp _{n_n-1} = P _n -P _n-1

In an embodiment, as shown in FIG. 16 and FIG. 17, when the selection instruction acquired in step S125 is associated with a two-to-one operation mode, step S126 includes:

Step S1261: Acquire respective first pose information of the two controlled motion input devices at the previous moment.

Step S1262: Obtain the respective second pose information of the two controlled motion input devices at a later time.

In step S1263, the incremental pose information of the two controlled motion input devices in the fixed coordinate system is calculated by combining the first scale factor and the respective first pose information and second pose information of the two controlled motion input devices.

In this step S1263, it can be specifically implemented through the following steps:

Calculate the incremental pose information of the first pose information and second pose information of a controlled motion input device in a fixed coordinate system, and calculate the first pose information and second pose information of another motion input device in the fixed coordinate system. The incremental pose information of the fixed coordinate system.

Combining the first scale factor to calculate the incremental pose information of one motion input device in the fixed coordinate system and the incremental pose information of the other motion input device in the fixed coordinate system to obtain the increase of the two motion input devices in the fixed coordinate system. Measure pose information.

Wherein, in the two-to-one operation mode, for example, the first scale factor is 0.5, that is, K ₁ and K ₂ are both 0.5, and the acquired incremental pose information represents the two The incremental pose information of the center point of the connection between the controlled motion input devices. According to actual conditions, K ₁ and K ₂ can also be assigned additional values. K ₁ and K ₂ may be the same or different.

Step S1264: Map the incremental pose information of the two controlled motion input devices in the fixed coordinate system to the incremental pose information of the remote end of the controlled object in the first coordinate system.

In an embodiment, as shown in FIG. 18, when the selection instruction acquired in step S125 is associated with a two-to-one operation mode, step S126 may also include:

In step S1265, the first position information of each of the two controlled motion input devices in the fixed coordinate system at the previous moment is obtained respectively.

Step S1266: Acquire the second position information of each of the two controlled motion input devices in the fixed coordinate system at a later time.

Step S1267: Combine the second scale factor and the first position information and second position information of the two controlled motion input devices in the fixed coordinate system to calculate and obtain the horizontal movement increment information of the two controlled motion input devices in the fixed coordinate system. , Vertical movement increment information and rotation increment information.

Step S1268, correspondingly map the horizontal movement increment information, vertical movement increment information and rotation increment information of the two controlled motion input devices in the fixed coordinate system to the yaw angle of the remote end of the controlled object in the first coordinate system Incremental information, pitch angle incremental information, and roll angle incremental information.

Furthermore, as shown in FIG. 19 and FIG. 20, the above step S1268 calculates and obtains the position information of the two controlled motion input devices according to the first position information and the second position information of the two controlled motion input devices in the fixed coordinate system. The steps of fixing the rotation increment information of the coordinate system include:

Step S12681: Establish a first position vector between the two controlled motion input devices at the previous moment.

Step S12682, establishing a second position vector between the two controlled motion input devices at a later time.

Step S12683, combining the third scale factor and the angle between the first position vector and the second position vector to obtain the rotation increment information of the two controlled motion input devices in the fixed coordinate system.

In an embodiment, as shown in FIG. 21 and FIG. 22, when the selection instruction obtained in step S125 is associated with a one-to-one operation mode, step S126 may include:

Step S12611: Acquire the first pose information of the controlled motion input device in the fixed coordinate system at the previous moment.

Step S12612: Obtain the second pose information of the controlled motion input device in the fixed coordinate system at a later time.

Step S12613: Combine the fourth scale factor and the first pose information and second pose information of the controlled motion input device in the fixed coordinate system to calculate and obtain the incremental pose information of the controlled motion input device in the fixed coordinate system.

Step S12614: Map the incremental pose information of the controlled motion input device in the fixed coordinate system to the incremental pose information of the remote end of the controlled object in the first coordinate system.

It is worth noting that in some usage scenarios, when the robotic arm 21 is moving, it is necessary to ensure that the distal end of the robotic arm 21 moves around a stationary point (Remote Center of Motion) when the robotic arm 21 moves, that is, do The RCM constrained movement can be realized by setting the task freedom of the distal end of the robotic arm, which is only related to the posture freedom. The task degree of freedom of the distal end of the arm body can be understood as the degree of freedom that the distal end of the arm body allows to move in Cartesian space, which is at most 6 degrees. The actual degree of freedom of the distal end of the arm body in Cartesian space is the effective degree of freedom, and the effective degree of freedom of the distal end of the arm body is related to its configuration (ie structural feature). The effective degree of freedom of the distal end of the arm body can be understood as the arm body. The degree of freedom that the distal end can achieve in Cartesian space.

The fixed point has a relatively fixed positional relationship with the distal end of the mechanical arm. According to specific control purposes, the origin of the second coordinate system in some embodiments may be the fixed point, and in other embodiments, the origin of the second coordinate system may also be a certain point on the distal end of the robotic arm.

In an embodiment, as shown in FIG. 23, specifically in step S2, that is, the decomposition step, it may include:

Step S211: Obtain the input operation command associated with the task freedom of the distal end of the robotic arm.

Step S212: Decompose each initial target pose information according to the degree of freedom of the task to obtain the first component target pose information of the distal end of the manipulator in the first coordinate system and the second component target of the controlled operation terminal device in the second coordinate system. A group of pose information collections.

Wherein, the operation command may include a first operation command and a second operation command. The first operation command is related to the situation that the task degree of freedom of the distal end of the robot arm 21 and the effective degree of freedom of the robot arm 21 completely match, so that the distal end of the robot arm can move freely within the effective degree of freedom of the robot arm; the second operation command Related to the situation that the task freedom of the distal end of the robotic arm 21 is completely matched with the posture freedom of the effective freedom of the robotic arm 21, this second operation command corresponds to the above-mentioned RCM constraint movement, so that when the robotic arm 21 moves Make sure that its distal end, that is, the power mechanism 22 moves around a fixed point. Of course, you can also define other combinations of task freedom to facilitate control, which will not be repeated here.

For example, when the second operation command is obtained in step S211, the information related to the position freedom degree in the first component target pose information obtained by decomposition remains unchanged, but only the information related to the attitude degree of freedom changes. In this way, the distal end of the mechanical arm 21 moves around a fixed point, and the movement of the controlled operation end instrument 34B is mainly relied on to achieve the desired posture, which can ensure the safety of the operation.

In an embodiment, as shown in FIG. 24, specifically in step S2, that is, the decomposition step, it may include:

Step S221, acquiring the current pose information of the distal end of the robotic arm in the first coordinate system;

Step S222: Under the condition that the distal end of the manipulator remains in the current pose corresponding to the current pose information, the initial target pose information is converted to obtain the second component target pose information;

Step S223: Judging the validity of the second component target pose information;

In this step, if the second component target pose information is valid, go to step S224; otherwise, go to step S225.

Step S224, under the condition that the controlled terminal device reaches the target pose corresponding to the second component target pose information, convert the initial target pose information to obtain the first component target pose information;

Step S225: Adjust the second component target pose information to be valid and update the second component target pose information, and under the condition that the controlled operation terminal device reaches the target pose corresponding to the updated second component target pose information , Convert the initial target pose information to obtain the first component target pose information.

Through the above steps S221 to S225, when adjusting the posture of the controlled operation end device, the corresponding operation arm is adjusted first. If the movement of the operation arm meets the adjustment of the controlled operation end device, only the operation arm movement is required. ; If the movement of the operating arm cannot meet the adjustment of the controlled operation terminal equipment, it can be adjusted in conjunction with the movement of the mechanical arm.

Furthermore, in the above step S3, the first judgment step, since the second component target pose information itself is valid or effective after adjustment, it is actually only necessary to judge the first component target pose information. When the pose information is valid, it can be judged that the corresponding pose information set is valid; otherwise, it can be judged that the pose information set is invalid.

Referring to FIG. 6, the above steps S221 to S222 can be implemented in the following ways, specifically implemented by the following formula (1):

among them,

Is the initial target pose information of the controlled operation terminal device 34B in the first coordinate system,

Is the current pose information of the distal end of the robotic arm in the first coordinate system,

It is the target pose information of the controlled operation terminal device 34B in the second coordinate system. T2 is the tool coordinate system of the controlled operation end instrument 34B, T1 is the tool coordinate system of the robotic arm, and B is the base coordinate system of the robotic arm. When calculating, because first

with

Is known, so it can be calculated

If it is determined in step S223

Is invalid, you can change

Adjusted to be effective, and then due to

with

Is known, calculate

Those skilled in the art can understand that when the foregoing embodiments involve calculating (converting) the target pose information of the corresponding arm body distal end in the corresponding coordinate system, the above formula (1) can be used to achieve this, but for

The definition of etc. may change based on actual conditions. For example,

It may also be the current pose information of the corresponding arm body in the first coordinate system, which will not be repeated here.

In another embodiment, another method for controlling end instruments in a surgical robot is also provided. Referring to FIG. 25, steps S1' to S6' of the control method shown in FIG. 25 are substantially the same as steps S1 to S6 of the control method shown in FIG. , The control method shown in Figure 25 includes:

Step S1', the obtaining step, namely obtaining the initial target pose information of each controlled operation end device.

The operating end device 34B installed on the power mechanism 22 includes a controlled operating end device (an operating end device that needs to be controlled by a motion input device) and an uncontrolled operating end device that is not configured (no need to use a motion input device). Controlled operating end equipment). One operator can control at most two controlled operation end devices 34B at the same time. When there are more than two controlled operation end devices 34B, more than two operators can perform coordinated control.

Step S2', decomposition step, that is, decomposing each initial target pose information to obtain a group of pose information sets.

Step S3', the first judging step, namely judging the validity of each set of pose information.

Step S4', the calculation step, that is, under the condition that at least one set of pose information is valid, and the image end device and each uncontrolled operation end device are kept in the current pose, the robot arm is calculated by combining each set of pose information The first target pose information of the distal end in the first coordinate system, the second target pose information of the image terminal device in the second coordinate system, and the third target pose information of each controlled operation end device in the second coordinate system And the fourth target pose information of each uncontrolled operation end device in the second coordinate system.

In this step, it is expected that the uncontrolled operation end devices 34B can be maintained in the current posture; and it is preferred that each controlled operation end device 34B can reach the first desired posture. If several controlled operation end devices 34B cannot reach the first desired posture, If a desired posture is desired, it is expected that these controlled operation end instruments 34B that cannot reach the first desired posture can reach the second desired posture. The first expected pose refers to two situations where the target pose corresponding to the initial target pose information (including the initial target pose (which is associated with the motion information input by the controlled motion input device) is consistent with or inconsistent with the current pose ). The second desired posture refers to the current posture. When several controlled operation end instruments 34B cannot reach the first desired posture, it is intended to ensure that it/they can reach the second desired posture to ensure the safety of the operation.

Step S5', the second judgment step, is to judge the validity of the first target pose information, the second target pose information, each third target pose information, and each fourth target pose information.

Step S6', the control step, that is, when the first target pose information, the second target pose information, each third target pose information, and each fourth target pose information are all valid, control according to the first target pose information The manipulator moves to make the distal end of the manipulator reach the corresponding target pose, and controls the movement of the operating arm corresponding to the end-of-image instrument according to the second target pose information to keep the end-of-image instrument at the current pose, according to each third target pose The information control corresponds to the movement of the operating arm of the controlled operation end device to make the controlled operation end device reach the corresponding target pose, and controls the movement of the operating arm corresponding to the uncontrolled operation end device according to the fourth target pose information. Keep each uncontrolled operation end instrument in the current posture.

Through the above steps S1' to S6', when the acquired first target pose information, second target pose information, each third target pose information, and each fourth target pose information are all valid, the image can be maintained The end device 34A and the uncontrolled operation end device 34B are in the current posture to provide a stable field of view, while the controlled operation end device 34B reaches the first desired posture or the second desired posture; in addition, it can be used in certain scenarios Combining the mechanical arm and the corresponding operating arm to move together, the movement range of the controlled operating end instrument 34B is expanded, so that the operation can be performed more easily.

In one embodiment, specifically in the above step S3', if all the posture information sets obtained by the judgment are invalid, it means that all controlled operation end devices 34B (including one or more controlled operation end devices) are not It is adjustable, so it does not enter the subsequent steps, that is, ends the control, and returns to step S1'.

In an embodiment, referring to Fig. 26 and Fig. 27, when the controlled operation end device is configured as one and the pose information set is valid, the foregoing step S4', that is, the calculation step includes:

Step S411', under the condition that the distal end of the robotic arm reaches the target pose information corresponding to the first component target pose information, convert the current pose information of the image end instrument to obtain its target pose information in the second coordinate system, and Convert the current pose information of each uncontrolled operation terminal device to obtain its target pose information in the second coordinate system.

Step S412', assign the first component target pose information to the first target pose information, assign the converted target pose information of the image end instrument in the second coordinate system to the second target pose information, and assign the second target pose information to the target pose information. The component target pose information is assigned to the third target pose information, and the target pose information of each uncontrolled operation end device in the second coordinate system is assigned to the fourth target pose information of the corresponding uncontrolled operation end device.

In the above step S5', that is, the second judgment step, since the pose information set has been determined to be valid, the first target pose information and the third target pose information are valid. Therefore, it is actually only necessary to determine whether the second target pose information and each fourth target pose information are valid.

If the first to fourth target pose information are not all valid, the control ends.

If the first to fourth target pose information are all valid, go to step S6', which is the control step. As shown in FIG. 27, the operation end device 34B includes a controlled operation end device 34B1 and an uncontrolled operation end device 34B2. According to the first target pose information, the robot arm 21 is controlled to move so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operation arm 31A is controlled to move according to the second target pose information to keep the image end instrument 34A at the current position. Posture, control the movement of the operating arm 31B according to the third target posture information so that the controlled operation end device 34B1 reaches the corresponding target posture (the first desired posture), and control the movement of the operating arm 31C according to the fourth target posture information to make The uncontrolled operation end device 34B2 remains in the current posture.

In an embodiment, referring to Fig. 28 and Fig. 29, when the controlled operation terminal device is configured as multiple, and it is judged that only one pose information set is valid in the above step S3', and the other pose information sets are invalid , The above step S4', that is, the calculation step includes:

Step S421', under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the effective pose information set, convert the current pose information of the image end device to obtain its second coordinate System target pose information, convert the current pose information of each uncontrolled operation end device to obtain its target pose information in the second coordinate system, and convert the control operation end device associated with each invalid pose information The current pose information obtains its second desired target pose information in the second coordinate system.

Step S422', assign the first component target pose information in the effective pose information set to the first target pose information, and assign the target pose information of the image end instrument in the second coordinate system to the second target pose Information, assign the second component target pose information in the effective pose information set to the third target pose information of the associated controlled operation end device, and assign each second expected target pose to the corresponding controlled operation The third target pose information of the end device, the target pose information of each uncontrolled operation end device in the second coordinate system is assigned to the fourth target pose information of the corresponding uncontrolled operation end device.

The above step S5' is the second judgment step, it is actually only necessary to judge the second target pose information of the end image device 34A and the third target pose information of the controlled operation end device 34B associated with each invalid pose information set. Is it valid?

If the first target pose information, the second target pose information, each third target pose information, and each fourth target pose information are not all valid, the control ends.

If the first target pose information, the second target pose information, each third target pose information, and each fourth target pose information are all valid, go to step S6', which is a control step. As shown in FIG. 29, the operation end equipment 34B includes controlled operation end equipment 34B1 to 34B3 and an uncontrolled operation end equipment 34B4. If the set of posture information associated with the controlled operation end device 34B1 is valid, and the two sets of posture information associated with the controlled operation end device 34B2～34B3 are invalid:

Control the movement of the robotic arm 21 according to the first target pose information so that the power mechanism 22 at the far end reaches the corresponding target pose, and control the movement of the operating arm 31A according to the second target pose information to keep the image end instrument 34A in the current pose , Control the movement of the operating arm 31B according to the third target posture information of the controlled operation end device 34B1 to make the controlled operation end device 34B reach the corresponding target posture (the first desired posture), and according to the controlled operation end device 34B2 The third target pose information of each of ~34B3 controls the movement of the operating arms 31C~31D so that the controlled operation end instruments 34B2~34B3 reach the corresponding target pose (the second desired pose, that is, maintain the current pose), and according to the first The four-target pose information controls the movement of the operating arm 31E to keep the uncontrolled operating end device 34B4 in the current pose.

Steps S1' to S6' including steps S421' to S422' are not only applicable to the same robotic arm 21 having three controlled operation end devices 34B shown in FIG. 29, but also applicable to the same robotic arm 21 having two One or more than four controlled-operation end devices 34B.

In one embodiment, referring to Fig. 29 and Fig. 30, when there are multiple controlled operation end devices, and two or more pose information sets are valid, and the remaining pose information sets are invalid, the foregoing step S4', that is, the calculation step includes:

Step S431', under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in each valid pose information set, the current pose information of the image end device is converted to obtain the target pose information. Target pose information in the second coordinate system.

Step S432', judging the validity of each target pose information of the image terminal device in the second coordinate system.

In this step, if only one of the target pose information of the end image device is valid, step S433' is entered; if more than two of the target pose information of the end image device are valid, step S438' is entered.

Step S433', under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, the conversion is The current pose information of each controlled end device associated with the invalid target pose information set obtains its second expected target pose information in the second coordinate system, and the current pose information of each uncontrolled end device is obtained by conversion Its target pose information in the second coordinate system, and convert the initial target pose information of each controlled terminal device associated with the remaining effective target pose information sets to obtain its first expected target position in the second coordinate system Posture information.

In step S434', the validity of each first desired target pose information is judged.

In this step, if all the first desired target pose information is valid, go to step S435'; if at least part of the first desired target pose information is invalid, go to step S436'.

Step S435', assign the first component target pose information in the pose information set associated with the target pose information of the effective end image device to the first target pose information, and assign the target pose information of the effective end image device The information is assigned to the second target pose information, and the second component target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target of the associated controlled operation end device Pose information, assign each first desired target pose information and each second desired target pose information to the third target pose information of the corresponding controlled operation end device, and place each uncontrolled operation end device in the first The target pose information of the two-coordinate system is assigned to the fourth target pose information of the corresponding uncontrolled operation end device.

Step S436', under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, the conversion and The current pose information of the controlled operation end device associated with each invalid first desired target pose information obtains its second desired target pose information in the second coordinate system.

Step S437', assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and assign the target pose of the effective end-of-image equipment The information is assigned to the second target pose information, and the second component target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target of the associated controlled operation end device Pose information, each valid first desired target pose information is assigned to the third target pose information of the corresponding controlled operation end device, and each second desired target pose information obtained at different stages (ie, conditions) is assigned Respectively assign values to the third target pose information of the corresponding controlled operation end device, and assign the target pose information of each uncontrolled operation end device in the second coordinate system to the fourth target position of the corresponding uncontrolled operation end device Posture information.

Among them, the effective first desired target pose information is correspondingly assigned to the third target pose information of the associated controlled operation end device; each second desired target pose information is associated with two situations, one of which is related to invalid The target pose information set in the other case is related to the invalid first expected target pose information (converting the first expected pose to the second expected pose), so it needs to be assigned correspondingly to the recipient associated with the corresponding situation. Control and operate the end equipment. In step S438', one of the valid target pose information of the end-of-picture equipment is selected as valid, and the rest are regarded as invalid, and step S433' is entered when only one of the target pose information of the end-of-picture equipment is valid.

In this step S438', it is possible to configure and form a variety of combinations that regard the target pose information of multiple valid end-of-image devices as valid and invalid, and use the aforementioned steps S433' to S437' to perform calculations. A set of the calculated first target pose information, second target pose information, and each third target pose information are all valid for the control step of step S6'.

In some embodiments, if more than two sets of correspondingly calculated first target pose information, second target pose information, each third target pose information, and each fourth target pose information in different combinations are valid, Then, according to some measurement indicators, it can be determined to select a group in which the first target pose information, the second target pose information, each third target pose information, and each fourth target pose information are all valid to perform step S6' Control steps. These metrics include, but are not limited to, more than one of the range of motion, motion speed, and motion acceleration of the arm (mechanical arm or manipulator arm), such as smaller arm motion range, lower motion speed, and lower motion acceleration. One or more of them are used to select the first target pose information, the second target pose information, and each third target pose information used in step S6'. These metrics include, but are not limited to, the number of controlled-operated end devices that can achieve the first expected pose and the second expected pose. It is preferred to control the number of poses that can reach the first expected pose. These measurement indicators can also be combined with each other to select an optimal group for the control of step S6'.

In some embodiments, the priority can be set for each controlled terminal device in advance or in real time (for example, by voice command) during the operation of the controlled terminal device, and in step S438', the recipients with higher priority are selected in turn. The target pose information of the effective image end device associated with the control operation end device is considered valid, and the rest is considered invalid, so as to ensure that the control object with a higher priority can achieve the first desired pose as much as possible. The priority setting can be set according to the authority of the operator, or can be set according to the specific control object, which can be flexibly configured.

As shown in FIG. 29, the operation end equipment 34B includes controlled operation end equipment 34B1 to 34B3 and an uncontrolled operation end equipment 34B4. Assuming that the set of posture information associated with the controlled operation end device 34B1 is invalid, and the two sets of posture information associated with the controlled operation end device 34B2～34B3 are all valid, the calculation is related to the controlled operation end device according to the above step S431' The target pose information of the image end instruments of 34B2 and 34B3 in the second coordinate system are C2 and C3, respectively.

Case (1.1): Assuming that it is determined in step S432' that both C2 and C3 are invalid, the control ends.

Case (1.2): Suppose it is judged that C2 is valid and C3 is invalid in step S432'.

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B2, the target pose information of the controlled operation end device 34B1 in the second coordinate system (the second expected target position) is calculated according to step S433' Posture information), the target posture information of the controlled operation end device 34B3 in the second coordinate system (the first desired target posture information), and the target posture information of the uncontrolled operation end device 34B4 in the second coordinate system.

Assuming that according to step S434', it is determined that the first expected target pose information of the controlled operation end device 34B3 in the second coordinate system is valid:

After the value is assigned in step S435', the process proceeds to step S5', and when the first to fourth target pose information is valid, the process proceeds to step S6'. In step S6', the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the movement of the operating arm 31B according to the third target pose information of the controlled operation end device 34B1 to make the controlled operation end device 34B reach the corresponding target pose (the second desired pose, that is, maintain the current Posture), according to the third target posture information of the controlled operation end devices 34B2 to 34B3, the operation arms 31C to 31D are controlled to move so that the controlled operation end devices 34B2 to 34B3 reach the corresponding target posture (the first desired posture). ), and control the movement of the operating arm 31E according to the fourth target pose information to keep the uncontrolled operating end device 34B4 in the current pose.

Assuming that it is determined according to step S434' that the first expected target pose information of the controlled operation end device 34B3 in the second coordinate system is invalid:

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B2, the second expected target pose information of the controlled operation end device 34B3 in the second coordinate system is calculated according to step S436', and After the value is assigned in step S437', the process proceeds to step S5', and when the first to fourth target pose information is valid, the process proceeds to step S6'. In step S6', the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the movement of the operating arms 31B, 34D according to the third target pose information of the controlled operating end devices 34B1, 34B3 so that the controlled operating end devices 34B1, 34B3 reach the corresponding target poses (second The desired posture, that is, the current posture is maintained), and the movement of the operating arm 31C is controlled according to the third target posture information of the controlled operation end device 34B2 to make the controlled operation end device 34B2 reach the corresponding target posture (the first desired position) Posture), and control the movement of the operating arm 31E according to the fourth target posture information to keep the uncontrolled operating end device 34B4 in the current posture.

Case (1.3): Assume that it is judged that C2 and C3 are both valid in step S432'.

Steps S1' to S6' including steps S431' to S438' are not only applicable to the same robotic arm 21 having three controlled operation end devices 34B shown in FIG. 29, but also applicable to the same robotic arm 21 having four controlled operation end devices 34B according to its principle. More than one controlled operation end device 34B.

In an embodiment, referring to Fig. 29 and Fig. 31, when there are more than two (including two or more) controlled end devices, and each posture information set is valid, the above step S4', that is, the calculation step includes:

Step S441', under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in each valid pose information set, the current pose information of the image end device is respectively converted to obtain the target pose information. Target pose information in the second coordinate system.

Step S442', judging the validity of each target pose information of the image terminal device in the second coordinate system.

In this step, if only one of the target pose information of the end image device is valid, step S443'; if more than two of the target pose information of the end image device are valid, step S448'.

Step S443', under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, convert each The current pose information of the uncontrolled operation terminal device obtains its target pose information in the second coordinate system, and the initial target pose information of each controlled operation terminal device associated with the remaining effective target pose information set is converted to obtain it. The pose information of the first desired target in the second coordinate system.

In step S444', the validity of each first desired target pose information is judged.

In this step, if all the first desired target pose information is valid, go to step S445'; if at least part of the first desired target pose information is invalid, go to step S446'.

Step S445', assign the first component target pose information in the pose information set associated with the target pose information of the effective end image device to the first target pose information, and assign the target pose information of the effective end image device The information is assigned to the second target pose information, and the second component target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target of the associated controlled operation end device Posture information, assign each first desired target posture information to the third target posture information of the corresponding controlled operation end device, and assign the target posture information of each uncontrolled operation end device in the second coordinate system to The fourth target pose information of the corresponding uncontrolled operation end device.

Step S446', under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component of the target pose information in the effective pose information set that is associated with the target pose information of the effective end-of-image device, the conversion and The current pose information of the controlled operation end device associated with each invalid first desired target pose information obtains its second desired target pose information in the second coordinate system.

Step S447', assign the first component target pose information in the pose information set associated with the target pose information of the effective end-of-image equipment to the first target pose information, and assign the target pose of the effective end-of-image equipment The information is assigned to the second target pose information, and the second component target pose information in the pose information set related to the target pose information of the effective image end device is assigned to the third target of the associated controlled operation end device Pose information, each valid first desired target pose information is assigned to the third target pose information of the corresponding controlled operation end device, and each second desired target pose information is assigned to the corresponding controlled operation The third target pose information of the end device, the target pose information of each uncontrolled operation end device in the second coordinate system is assigned to the fourth target pose information of the corresponding uncontrolled operation end device.

In step S448', one of the valid target pose information of the end-of-picture equipment is selected as valid, and the rest are regarded as invalid, and step S443' is entered when only one of the target pose information of the end-of-picture equipment is valid.

As shown in FIG. 29, the operation end equipment 34B includes controlled operation end equipment 34B1 to 34B3 and an uncontrolled operation end equipment 34B4. Assuming that the three sets of pose information associated with the controlled operation end devices 34B1 to 34B3 are all valid, the image end devices associated with the controlled operation end devices 34B1, 34B2, and 34B3 calculated according to the above step S441' are the targets in the second coordinate system The pose information is C1, C2, C3, respectively.

Case (2.1): Assuming that it is determined in step S442' that all C1 to C3 are invalid, the control ends.

Case (2.2): Assume that it is judged in step S442' that only C1 is valid, and C2 and C3 are invalid.

Based on the first component pose information of a set of pose information associated with the controlled operation end device 34B1, the target pose information of the controlled operation end device 34B2, 34B3 in the second coordinate system (the first expectation) is calculated according to step S433' Target pose information), and calculate the target pose information of the uncontrolled operation end device 34B4 in the second coordinate system according to step S433' (same as the second expected target pose).

Assuming that according to step S444’, it is determined that the first expected target pose information of the controlled operation end devices 34B2 and 34B3 in the second coordinate system are both valid:

After the assignment is performed in step S445', the process proceeds to the above-mentioned step S5', and when the first to fourth target pose information is valid, the process proceeds to step S6'. In step S6', the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the operating arms 31B to 31D to move to the corresponding target pose (the first desired pose) according to the third target pose information of the controlled operation end devices 34B1 to 34B3, and according to the fourth target pose. The target pose information controls the movement of the operating arm 31E so that the uncontrolled operating end device 34B4 is maintained in the current pose.

Suppose it is determined according to step S444' that the first expected target pose information of the controlled operation end device 34B2, 34B3 in the second coordinate system is at least partially invalid, for example, the controlled operation end device 34B2 is in the first expected target position of the second coordinate system The pose information is valid, and the controlled operation terminal device 34B3 is invalid in the first desired target pose information in the second coordinate system:

Based on the first component pose information of a set of pose information sets associated with the controlled operating end device 34B1, the second expected target pose information of the controlled operating end device 34B3 in the second coordinate system is calculated according to step S446', and After the value is assigned in step S447', the process proceeds to step S5', and when the first target pose information, the second target pose information, and the third target pose information are all valid, the process proceeds to step S6'. In step S6', the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the operating arms 31B-31C to move to the corresponding target pose (the first desired pose) according to the third target pose information of the controlled operation terminal device 34B1-34B2, and operates according to the controlled operation The third target pose information of the end device 34B2 controls the movement of the operating arm 31D to reach the corresponding target pose (the second desired pose), and controls the movement of the operating arm 31E according to the fourth target pose information to make the uncontrolled operation end The instrument 34B4 remains in the current posture.

Assuming that it is determined according to step S444' that the first expected target pose information of the controlled operation end devices 34B2 and 34B3 in the second coordinate system is invalid:

Based on the first component pose information of the set of pose information associated with the controlled operation end device 34B1, the second expected target pose information of the controlled operation end device 34B2 and 34B3 in the second coordinate system is calculated according to step S446' , And after assigning values through step S447', proceed to step S5', and when the first target pose information, second target pose information, and each third target pose information are all valid, proceed to step S6'. In step S6', the robot arm 21 is controlled to move according to the first target pose information so that the power mechanism 22 at the distal end reaches the corresponding target pose, and the operating arm 31A is controlled to move according to the second target pose information to make the end of the image The instrument 34A maintains the current pose, and controls the operating arm 31B to move to the corresponding target pose (first desired pose) according to the third target pose information of the controlled operation end device 34B1, and according to the controlled operation end device 34B2, The third target pose information of 34B3 controls the movement of the operating

arms

31C and 31D to reach the corresponding target poses (the second desired pose), and controls the motion of the operating arm 31E according to the fourth target pose information to make the uncontrolled operation end The instrument 34B4 remains in the current posture.

Steps S1' to S6' including steps S441' to S448' are not only applicable to the same robotic arm 21 having three controlled operation end devices 34B as shown in FIG. 29, but also applicable to the same robotic arm 21 having two controlled operation end devices 34B according to its principle. In the case of one, or more than four controlled-operation end devices 34B.

In the foregoing embodiment, the number of uncontrolled operation end devices is not limited.

Through the above-mentioned embodiments, by combining the motions of the robotic arm 21 and the operating arm 31, it is possible to ensure as far as possible that the controlled operating end device 34B can reach the first posture under the condition that the image end device 34A and the uncontrolled end device are kept in the current posture. A desired posture achieves the purpose of the operation. If the first desired posture cannot be reached, it will try to ensure that the controlled operation end instrument 34B remains in the current posture to reduce the operation risk.

The embodiment shown in Figs. 11-22, which is applicable to step S1, is also applicable to step S1'; the embodiment shown in Figs. 23-24, which is applicable to step S2, is also applicable to step S2’. For the sake of brevity, these universally applicable embodiments will not be repeated.

In an embodiment, as shown in FIG. 32, the step of judging the validity of the arbitrarily obtained target pose information includes:

Step S71: Analyze the target pose information into target motion state parameters of each joint component in the corresponding arm body.

In step S72, the target motion state parameter of each joint component in the arm body is compared with the motion state threshold value of each joint component in the arm body.

Step S73, if more than one target motion state parameter of each joint component in the arm body exceeds the motion state threshold of the corresponding joint component, then it is judged that the target pose information is invalid; if the target motion state parameter of each joint component in the arm body does not exceed According to the motion state threshold of the corresponding joint component, it is judged that the target pose information is valid.

Furthermore, in the foregoing step S225, specifically, in the step of adjusting the second component target pose information to be effective, the motion state of each joint component in the arm body that exceeds the motion state threshold can be adjusted to within the corresponding motion state threshold to make it effective. In one embodiment, the motion state of each joint component in the arm body that exceeds the motion state threshold can be adjusted to the corresponding motion state threshold to make it effective, so that the operating arm can be moved to the limit as much as possible, and then adjusted with the mechanical arm.

The above-mentioned embodiments are suitable for controlling end instruments in a surgical robot of the type shown in FIG. 1. This type of surgical robot includes a robotic arm 21 and one or more operating arms 31 with end instruments 34 installed at the distal end of the robotic arm 21, and both the robotic arm 21 and the operating arm 31 have several degrees of freedom.

The above-mentioned embodiments are also suitable for controlling end instruments in a surgical robot of the type shown in FIG. 33. This type of surgical robot includes a main arm 32', one or more adjustment arms 30' installed at the distal end of the main arm 32', and one or more operating arms 31 with end instruments installed at the distal end of the adjustment arm 30' ', the main arm 32', the adjusting arm 30' and the operating arm 31' all have several degrees of freedom. As shown in Fig. 33, in the surgical robot, four adjustment arms 30' can be provided, and each adjustment arm 30' can be provided with only one operation arm 31'. According to actual usage scenarios, the three-stage arm structure of the surgical robot of the type shown in FIG. 33 can be configured as the two-stage arm structure of the surgical robot of the type shown in FIG. 1 to realize control. In one embodiment, when the concepts of the operating arms in the two types of surgical robots are the same, for example, depending on the configuration, each adjustment arm 30' in the type of surgical robot shown in FIG. 33 can be regarded as The mechanical arm 21 in the surgical robot of the type shown in FIG. 1 is controlled; for example, according to the configuration, any adjustment arm 30' and the main arm 32' of the surgical robot of the type shown in FIG. It is considered that the robotic arm 21 in the surgical robot of the type shown in FIG. 1 performs control. In an embodiment, the main arm 32' in the surgical robot of the type shown in FIG. 33 can be regarded as the mechanical arm 21 in the surgical robot of the type shown in FIG. 1, and the surgical robot of the type shown in FIG. 33 The entire adjustment arm 30' and its corresponding operating arm 31' are regarded as the operating arm 31 in the surgical robot of the type shown in FIG. 1 for control.

In an embodiment, the above-mentioned control method of a surgical robot is usually configured to be implemented in a processing system of the surgical robot, and the processing system has more than one processor.

In one embodiment, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program configured to be executed by more than one processor to implement the control method described in any one of the above embodiments. step.

The surgical robot, its control method, and computer-readable storage medium of the present application have the following beneficial effects:

By controlling the movement of the robotic arm 21 to make the end-of-operation instrument 34B reach the target pose, the end-of-image instrument 34A is controlled to move to maintain the current pose, and the end of the operation can be expanded by the movement of the robotic arm 21 while maintaining the same field of view. The operating space of the device 34B is convenient and safe to use.

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

The above-mentioned embodiments only express several implementation manners of the present application, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims

A surgical robot, characterized in that it comprises:

Robotic arm

The operating arm is installed at the distal end of the robotic arm. The number of operating arms is more than two and each has one end instrument. The end instrument includes one image end instrument and more than one operation end instrument, the operation end instrument At least one of them is configured as a controlled operation end device, so that the controlled operation end device is a first end device, and the end device other than the first end device is a second end device;

And a control device, respectively connected to the mechanical arm and the operating arm, and configured to execute:

The obtaining step is to obtain the initial target pose of each of the first end instruments in the first coordinate system;

The decomposition step is to decompose each of the initial target pose information to obtain a set of pose information sets, each set of pose information sets including the first component target pose information of the distal end of the robotic arm in the first coordinate system And the second component target pose information of the first end instrument in a second coordinate system, where the first coordinate system refers to the base coordinate system of the robotic arm, and the second coordinate system refers to the tool coordinate system of the robotic arm;

The first judgment step is to judge the validity of each group of said pose information sets;

In the calculation step, under the condition that at least one set of the pose information set is valid and each of the second end instruments is maintained in the current pose, calculate the distal end of the robotic arm in combination with each set of the pose information set The first target pose information in the first coordinate system, the second target pose information of each of the first end devices in the second coordinate system, and the third target of each of the second end devices in the second coordinate system Pose information

The second judgment step is to judge the validity of the first to third target pose information;

In the control step, when the first to third target pose information is valid, the robot arm is controlled to move according to the first target pose information so that the distal end of the robot arm reaches the corresponding target pose, according to The second target pose information controls the movement of the operating arm corresponding to the first end device to make the first end device reach the corresponding target pose, and controls the corresponding first end device according to the third target pose information. The operating arm of the second end device moves to keep the second end device in the current posture.
The surgical robot according to claim 1, wherein there is one first end instrument and the pose information set is valid, and the control device is configured to execute in the calculation step:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information, the current pose information of each second end instrument is converted to obtain its second coordinate system in the second coordinate system. Expected target pose information;

The first component target pose information is assigned to the first target pose information, the second component target pose information is assigned to the second target pose information, and the second desired target pose is assigned The pose information is assigned to the third target pose information.
The surgical robot according to claim 1, wherein there are more than two first end instruments, and one group of the pose information set is valid and the rest are invalid, so that the effective pose information set is The first set, and the invalid pose information set is the second set, and the control device is configured to perform in the calculation step:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the first set, the current pose information of each of the second end instruments is converted to obtain the target pose information in the second end device. Second desired target pose information in the coordinate system, and convert the current pose information of the first end device associated with the second set to obtain the second desired target pose information in the second coordinate system;

Assign the first component target pose information in the first set to the first target pose information, and assign the second component target pose information in the first set to be associated with the first set The second target pose information of the first end instrument, the second expected target pose information of the first end instrument obtained by conversion is assigned to the second target pose information corresponding to the first end instrument Two target pose information, and the second expected target pose information of the second end device obtained by conversion is assigned to the third target pose information of the corresponding second end device.
The surgical robot according to claim 1, wherein there are multiple first end instruments, and two groups in the pose information set are valid and the rest are invalid, so that the effective pose information set is the first One set, and the invalid pose information set is a second set, the second end device includes more than one operation end device, and the control device is configured to execute in the calculation step :

Under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component target pose information in each of the first sets, the current pose information of the end-of-image equipment is converted to obtain its second target pose information. Image target pose information of the coordinate system;

Judging the validity of each of the image target pose information;

When more than one of the image target pose information is valid, one of the valid image target pose information is selected as the first image target pose information, and the remaining image target pose information is regarded as the first image target pose information. 2. Image target pose information, conditions for reaching the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image at the distal end of the robotic arm Next, convert the initial target pose information of the first end instrument associated with the first set of target pose information of the second image to obtain its first expected target pose information in the second coordinate system, Convert the current pose information of the first end device associated with the second set to obtain its second desired target pose information in the second coordinate system, and convert the image associated with the second set to divide the image The current pose information of the second end device other than the end device obtains its second desired target pose information in the second coordinate system;

Judging the validity of each of the first desired target pose information;

When each of the first desired target pose information is valid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the first expected target pose information of the first end device obtained by conversion is assigned to the second target pose information corresponding to the first end device, and the conversion is obtained The second desired target pose information of the first end device is assigned to the second target pose information corresponding to the first end device, and the target pose information of the first image is assigned to the The third target pose information of the end image device, and the second expected target pose information of the second end device other than the end image device obtained by conversion is assigned to the corresponding second end The third target pose information of the device.
The surgical robot according to claim 4, wherein the effective one in the first desired target pose information is the effective desired target pose information, and the one that is invalid in the first desired target pose information is invalid. Desired target pose information, and the control device is configured to obtain in each of the first desired target pose information in the step of judging the validity of each of the first desired target pose information When at least partially invalid, execute:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image, the conversion is associated with the The current pose information of the first end instrument that invalidates the desired target pose information obtains its second desired target pose information in the second coordinate system;

When each of the first desired target pose information is invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set For the second target pose information, the converted second expected target pose information of the first end device associated with the invalid expected target pose information is assigned to the corresponding value of the first end device The second target pose information, assign the first image target pose information to the third target pose information of the end-of-image device, and convert the obtained information other than the end-of-image device Assigning the second desired target pose information of the second end device to the third target pose information corresponding to the second end device;

When each of the first desired target pose information is partially invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the effective expected target pose information is assigned to the second target pose information corresponding to the first end device, and the converted value is associated with the invalid expected target pose information The second desired target pose information of the first end device is assigned to the second target pose information corresponding to the first end device, and the target pose information of the first image is assigned to the The third target pose information of the end image device, and the second expected target pose information of the second end device other than the end image device obtained by conversion is assigned to the corresponding second end The third target pose information of the device.
The surgical robot according to claim 1, wherein there are more than two first end instruments, and each set of the pose information set is valid, so that the effective pose information set is the first set , The second end instrument includes more than one operation end instrument, and the control device is configured to perform in the calculation step:

Under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component target pose information in each of the first sets, the current pose information of the end-of-image equipment is converted to obtain its second target pose information. Image target pose information of the coordinate system;

Judging the validity of each of the image target pose information;

When more than one of the image target pose information is valid, one of the valid image target pose information is selected as the first image target pose information, and the remaining image target pose information is regarded as the first image target pose information. 2. Image target pose information, conditions for reaching the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image at the distal end of the robotic arm Next, convert the initial target pose information of the first end instrument associated with the first set of target pose information of the second image to obtain its first expected target pose information in the second coordinate system, And converting the current pose information of the second end device excluding the image end device to obtain its second desired target pose information in the second coordinate system;

Judging the validity of each of the first desired target pose information;

When each of the first desired target pose information is valid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set associated with the first image target pose information to the first end device associated with the first set The second target pose information of the first end device obtained by conversion is assigned to the second target pose information of the corresponding first end device, and the second target pose information of the first end device is assigned. The first image target pose information is assigned to the third target pose information of the image end device, and the second end device's second end device other than the image end device is converted into the second target pose information. It is expected that the target pose information is assigned to the corresponding third target pose information.
The surgical robot according to claim 6, wherein the effective one in the first desired target pose information is the effective desired target pose information, and the one in the first desired target pose information that is invalid is invalid Desired target pose information, and the control device is configured to obtain in each of the first desired target pose information in the step of judging the validity of each of the first desired target pose information When at least partially invalid, execute:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image, the conversion is associated with the Invalidate the current pose information of the first end instrument in the desired target pose information to obtain its second desired target pose information in the second coordinate system;

When each of the first desired target pose information is invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set For the second target pose information, the converted second expected target pose information of the first end device associated with the invalid expected target pose information is assigned to the corresponding value of the first end device The second target pose information, assign the first image target pose information to the third target pose information of the end-of-image device, and convert the obtained information other than the end-of-image device Assigning the second desired target pose information of the second end device to the third target pose information corresponding to the second end device;

When each of the first desired target pose information is partially invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the effective expected target pose is assigned to the second target pose information corresponding to the first end device, and the converted value is associated with the invalid expected target pose information The second desired target pose information of the first end device is assigned to the second target pose information corresponding to the first end device, and the target pose information of the first image is assigned to the image The third target pose information of the end device, and the second expected target pose information of the second end device other than the image end device obtained by conversion is assigned to the corresponding second end device The third target pose information.
The surgical robot according to claim 1, wherein there are multiple first end instruments, and two groups in the pose information set are valid and the rest are invalid, so that the effective pose information set is the first One set, and the invalid pose information set is a second set, the second end device only includes the image end device, and the control device is configured to execute in the calculation step:

Under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component target pose information in each of the first sets, the current pose information of the end-of-image equipment is converted to obtain its second target pose information. Image target pose information of the coordinate system;

Judging the validity of each of the image target pose information;

When more than one of the image target pose information is valid, one of the valid image target pose information is selected as the first image target pose information, and the remaining image target pose information is regarded as the first image target pose information. 2. Image target pose information, conditions for reaching the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image at the distal end of the robotic arm Next, convert the initial target pose information of the first end instrument associated with the first set of target pose information of the second image to obtain its first expected target pose information in the second coordinate system, Converting the current pose information of the first end device associated with the second set to obtain its second expected target pose information in the second coordinate system;

Judging the validity of each of the first desired target pose information;

When each of the first desired target pose information is valid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the first expected target pose information of the first end device obtained by conversion is assigned to the second target pose information corresponding to the first end device, and the conversion is obtained The second desired target pose information of the first end device is assigned to the second target pose information of the corresponding first end device, and the target pose information of the first image is assigned to all The third target pose information of the image end device.
The surgical robot according to claim 8, characterized in that the valid one in the first desired target pose information is the valid desired target pose information, and the invalid one in the first desired target pose information is invalid Desired target pose information, and the control device is configured to obtain in each of the first desired target pose information in the step of judging the validity of each of the first desired target pose information When at least partially invalid, execute:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image, the conversion is associated with the The current pose information of the first end instrument that invalidates the desired target pose information obtains its second desired target pose information in the second coordinate system;

When each of the first desired target pose information is invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set For the second target pose information, the converted second expected target pose information of the first end device associated with the invalid expected target pose information is assigned to the corresponding value of the first end device The second target pose information, and assign the first image target pose information to the third target pose information of the image end device;

When each of the first desired target pose information is partially invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the effective expected target pose is assigned to the second target pose information corresponding to the first end device, and the converted value is associated with the invalid expected target pose information The second desired target pose information of the first end device is assigned to the second target pose information corresponding to the first end device, and the target pose information of the first image is assigned to the The third target pose information of the end image device.
The surgical robot according to claim 1, wherein there are more than two first end instruments, and each set of the pose information set is valid, so that the effective pose information set is the first set , The second end instrument only includes the image end instrument, and the control device is configured to execute in the calculation step:

Under the condition that the distal end of the manipulator reaches the target pose corresponding to the first component target pose information in each of the first sets, the current pose information of the end-of-image equipment is converted to obtain its second target pose information. Image target pose information of the coordinate system;

Judging the validity of each of the image target pose information;

When more than one of the image target pose information is valid, one of the valid image target pose information is selected as the first image target pose information, and the remaining image target pose information is regarded as the first image target pose information. 2. Image target pose information, conditions for reaching the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image at the distal end of the robotic arm Next, converting the initial target pose information of the first end device associated with the first set of target pose information of the second image to obtain its first expected target pose information in the second coordinate system;

Judging the validity of each of the first desired target pose information;

When each of the first desired target pose information is valid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set associated with the first image target pose information to the first end device associated with the first set The second target pose information of the first end device obtained by conversion is assigned the first expected target pose information of the first end device corresponding to the second target pose information of the first end device, and Assigning the first image target pose information to the third target pose information of the image end device.
The surgical robot according to claim 10, wherein the effective one in the first desired target pose information is the effective desired target pose information, and the invalid one in the first desired target pose information is invalid Desired target pose information, and the control device is configured to obtain in each of the first desired target pose information in the step of judging the validity of each of the first desired target pose information When at least partially invalid, execute:

Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first component target pose information in the first set of target pose information associated with the first image, the conversion is associated with the The current pose information of the first end instrument that invalidates the desired target pose information obtains its second desired target pose information in the second coordinate system;

When each of the first desired target pose information is invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set For the second target pose information, the converted second expected target pose information of the first end device associated with the invalid expected target pose information is assigned to the corresponding value of the first end device The second target pose information, and assign the first image target pose information to the third target pose information of the image end device;

When each of the first desired target pose information is partially invalid, assign the first component target pose information in the first set associated with the first image target pose information to the first Target pose information, assigning the second component target pose information in the first set related to the first image target pose information to all the first end instruments related to the first set The second target pose information, the effective expected target pose is assigned to the second target pose information corresponding to the first end device, and the converted value is associated with the invalid expected target pose information The second desired target pose information of the first end device is assigned to the second target pose information corresponding to the first end device, and the target pose information of the first image is assigned to the The third target pose information of the end image device.
The surgical robot according to claim 1, wherein the control device is configured to perform in the disassembling step:

Acquiring an inputted operation command related to the task freedom of the distal end of the robotic arm;

Combining the degree of freedom of the task, respectively decomposing each of the initial target pose information to obtain the first component target pose information including the distal end of the robotic arm in the first coordinate system and the controlled operation terminal instrument in the second coordinate system The second component of the target pose information is a set of pose information.
The surgical robot according to claim 12, characterized in that:

The operation command includes a first operation command and a second operation command;

The first operation command is associated with a situation where the task freedom of the distal end of the robotic arm completely matches the effective freedom of the robotic arm;

The second operation command is associated with a situation in which the task degree of freedom of the distal end of the robot arm completely matches the posture degree of freedom of the effective degree of freedom of the robot arm.
The surgical robot according to claim 1, wherein the control device is configured to perform in the disassembling step:

Acquiring current pose information of the distal end of the robotic arm in the first coordinate system;

Under the condition that the distal end of the manipulator remains in the current pose corresponding to its current pose information, converting the initial target pose information to obtain the second component target pose information;

Judging the validity of the second component target pose information;

If it is valid, under the condition that the controlled operation terminal device reaches the target pose corresponding to the second component target pose information, convert the initial target pose information to obtain the first component target pose information;

If it is invalid, adjust the second component target pose information to be valid and update the second component target pose information, and the device reaches and updated the second component target pose information at the end of the controlled operation Under the condition of the corresponding target pose, convert the initial target pose information to obtain the first component target pose information.
The surgical robot according to claim 14, wherein the control device is configured to perform in the first determining step:

Judging the validity of the first component target pose information obtained by converting the initial target pose information;

If the pose information of the first component target is valid, determining that the pose information set is valid;

If the pose information of the first component target is invalid, it is determined that the pose information set is invalid.
The surgical robot according to claim 1, wherein the control device is configured to execute in the step of judging the validity of the target pose information:

Parse the target pose information into target motion state parameters of each joint component in a corresponding arm body, where the arm body is the mechanical arm or the operating arm;

Comparing the target motion state parameter of each joint component in the arm body with the motion state threshold value of each joint component in the arm body;

If more than one target motion state parameter of each joint component in the arm body exceeds the motion state threshold of the corresponding joint component, it is determined that the target pose information is invalid; if the target motion state of each joint component in the arm body is If none of the state parameters exceeds the threshold of the motion state of the corresponding joint component, it is determined that the target pose information is valid.
The surgical robot according to claim 1, wherein the control device is configured to perform in the obtaining step:

Acquiring movement information of the movement of the remotely operated controlled terminal device input by a movement input device, where the movement information is the pose information of the movement input device;

Analyze the motion information as the initial target pose information of the controlled operation end device.
A method for controlling terminal instruments in a surgical robot. The surgical robot includes a mechanical arm and an operating arm. The operating arm is installed at the distal end of the mechanical arm. The number of the operating arms is more than two and each has one end. An instrument, the end instrument includes an image end instrument and more than one operation end instrument, at least one of the operation end instruments is configured as a controlled operation end instrument, so that the controlled operation end instrument is the first end instrument, and The end instrument other than the first end instrument is a second end instrument, and is characterized in that the control method includes the following steps:

The obtaining step is to obtain the initial target pose of each of the first end instruments in the first coordinate system;

The decomposition step is to decompose each of the initial target pose information to obtain a set of pose information sets, each set of pose information sets including the first component target pose information of the distal end of the robotic arm in the first coordinate system And the second component target pose information of the first end instrument in a second coordinate system, where the first coordinate system refers to the base coordinate system of the robotic arm, and the second coordinate system refers to the tool coordinate system of the robotic arm;

The first judgment step is to judge the validity of each group of said pose information sets;

In the calculation step, under the condition that at least one set of the pose information set is valid and each of the second end instruments is maintained in the current pose, calculate the distal end of the robotic arm in combination with each set of the pose information set The first target pose information in the first coordinate system, the second target pose information of each of the first end devices in the second coordinate system, and the third target of each of the second end devices in the second coordinate system Pose information

The second judgment step is to judge the validity of the first to third target pose information;

In the control step, when the first to third target pose information is valid, the robot arm is controlled to move according to the first target pose information so that the distal end of the robot arm reaches the corresponding target pose, according to The second target pose information controls the movement of the operating arm corresponding to the first end device to make the first end device reach the corresponding target pose, and controls the corresponding first end device according to the third target pose information. The operating arm of the second end device moves to keep the second end device in the current posture.
A control device for end instruments in a surgical robot, which is characterized in that it comprises:

Memory, used to store computer programs;

And a processor for loading and executing the computer program;

Wherein, the computer program is configured to be loaded by the processor and executed to implement the following steps:

The obtaining step is to obtain the initial target pose of each of the first end instruments in the first coordinate system;

The decomposition step is to decompose each of the initial target pose information to obtain a set of pose information sets, each set of pose information sets including the first component target pose information of the distal end of the robotic arm in the first coordinate system And the second component target pose information of the first end instrument in a second coordinate system, where the first coordinate system refers to the base coordinate system of the robotic arm, and the second coordinate system refers to the tool coordinate system of the robotic arm;

The first judgment step is to judge the validity of each group of said pose information sets;

In the calculation step, under the condition that at least one set of the pose information set is valid and each of the second end instruments is maintained in the current pose, calculate the distal end of the robotic arm in combination with each set of the pose information set The first target pose information in the first coordinate system, the second target pose information of each of the first end devices in the second coordinate system, and the third target of each of the second end devices in the second coordinate system Pose information

The second judgment step is to judge the validity of the first to third target pose information;

In the control step, when the first to third target pose information is valid, the robot arm is controlled to move according to the first target pose information so that the distal end of the robot arm reaches the corresponding target pose, according to The second target pose information controls the movement of the operating arm corresponding to the first end device to make the first end device reach the corresponding target pose, and controls the corresponding first end device according to the third target pose information. The operating arm of the second end device moves to keep the second end device in the current posture.