CN112263332A - Adjustment system, method, medium, and terminal for surgical robot - Google Patents
Adjustment system, method, medium, and terminal for surgical robot Download PDFInfo
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- A61B34/30—Surgical robots
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention provides an adjusting system, a method, a medium and a terminal of a surgical robot, wherein the adjusting system comprises an adjusting trigger unit, an environment modeling unit, a path planning unit and an adjusting unit which are sequentially in communication connection, the surgical robot comprises at least one base, the adjusting unit is connected with the base to adjust the base, and the method comprises the steps of acquiring motor position information of a motor in a mechanical arm through the adjusting trigger unit to judge whether the base needs to adjust the position; after the adjustment triggering unit confirms that the base needs to be adjusted, acquiring operating room environment information of an operating room where the mechanical arm is located through an environment modeling unit, and establishing an operating room model according to the operating room environment information; the path planning unit plans a path of the base according to the operating room environment information and the operating room model and obtains a target adjustment path; the adjusting unit adjusts the position of the base according to the target adjusting path; the continuity of the operation is improved, and more comfortable experience is brought to doctors.
Description
Technical Field
The present invention relates to the technical field of medical devices, and in particular, to a system, a method, a medium, and a terminal for adjusting a surgical robot.
Background
The minimally invasive surgery is performed by adopting the robot surgery system, so that the wound of a patient is small, the postoperative recovery is fast, the wound infection is small, the operation difficulty and the operation fatigue degree of a doctor are reduced, and the experience of the doctor is enhanced.
When the surgical robot is used for micro-trauma surgery, an important step is to put each mechanical arm and each joint of the surgical robot to a reasonable position before surgery, so that the motion of the mechanical arm can be ensured to have a sufficient range in the following surgery. However, the lesion position determined before the operation may be different from the actual lesion position, and thus, the adjustment during the operation is required.
Surgical robots generally accomplish surgical operations through robotic arms, which are complex systems with high precision, multiple inputs and multiple outputs, high non-linearity, and strong coupling. As the mechanical arm is a complex system, uncertainties such as parameter perturbation, external interference, unmodeled dynamic state and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.
At present, the medical mechanical arm is in the in-process of adjusting, and the control range of arm is restricted, can't realize arm and surgical instruments 360 rotatory adjustment when carrying out the operation use, can't satisfy the adjustment demand of medical mechanical arm in the operation in-process, especially can not accurately prevent to bump between operation robot and the object around.
Therefore, there is a need to provide a new surgical robot adjusting method and system to solve the above problems in the prior art.
Disclosure of Invention
The invention aims to provide an adjusting system, an adjusting method, a medium and a terminal of a surgical robot, which can reduce the collision risk during the adjustment of a base and improve the safety.
In order to achieve the above object, the present invention provides an adjusting system of a surgical robot, comprising an adjusting triggering unit, an environment modeling unit, a path planning unit and an adjusting unit, which are sequentially connected in a communication manner, wherein the surgical robot comprises at least one base, the base is connected with at least one mechanical arm, and the adjusting unit is connected with the base to adjust the base;
the adjusting and triggering unit is used for acquiring motor position information of a motor in the mechanical arm so as to judge whether the base needs to adjust the position;
the environment modeling unit is used for detecting the environment where the surgical robot is located so as to obtain the environment information of an operating room, and obtaining an operating room model according to the environment information of the operating room;
the path planning unit is used for planning a path of the base according to the operating room model to obtain a target adjustment path;
and the adjusting unit adjusts the position of the base with the position needing to be adjusted according to the target adjusting path.
The invention has the beneficial effects that: the motor position information is obtained through the adjusting trigger unit to judge whether the base needs to be adjusted in position or not, after the base needs to be adjusted, operating room environment information in an operating room is obtained through the environment modeling unit, meanwhile, the environment modeling unit establishes an operating room model according to the operating room environment information, the path planning unit plans a path for the base according to the operating room model and obtains a target adjusting path, then, the base is adjusted along the target adjusting path through the adjusting unit, in the whole adjusting process of the base, the target adjusting path is planned to be adjusted, and the risk that the base collides with other objects in the operating room is reduced.
Furthermore, the adjustment triggering unit comprises a motor position acquisition module, a motor range setting module and a triggering module, the motor position acquisition module is used for acquiring motor position information of a motor in the mechanical arm, the motor range setting module is used for setting a motion range of the motor in the mechanical arm, and the triggering module is used for judging whether the base needs to adjust the position according to the motor position information and the motion range.
The beneficial effects are that: and judging whether the base needs to be adjusted or not by comparing the electrode position information with the movement range set by the motor.
Further, the trigger adjustment unit further includes a trigger threshold setting module, where the trigger threshold setting module is configured to set a motor trigger threshold, the trigger module calculates a motor difference between the motor position information and a limit value of the movement range, and when the motor difference is smaller than the motor trigger threshold, the trigger module determines that the base needs to adjust the position.
The beneficial effects are that: the size of the set motor trigger threshold value can be adjusted according to different conditions, so that the base can be adjusted under different conditions, and the base can be conveniently adjusted and used under different conditions.
Further, the environment modeling unit comprises an environment obtaining module, a base identifying module and a modeling module, the environment obtaining module is used for obtaining operating room environment information in an operating room where the surgical robot is located, the base identifying module is used for identifying the base and obtaining base position information of the base, and the modeling module is respectively connected with the base identifying module and the environment obtaining module and establishes an operating room model according to the base position information and the operating room environment information.
The beneficial effects are that: after the base is identified by the base identification module, the modeling module establishes an operating room model according to the operating room environment information acquired by the environment acquisition module, so that the information of each object in the operating room is accurately acquired, and the base is conveniently adjusted subsequently.
Further, the operating room environment information comprises operating room object information and object distance information, the environment acquisition module comprises image acquisition equipment and distance processing equipment, the image acquisition equipment acquires the operating room object information in the operating room by acquiring operating room images, and the distance processing equipment is used for calculating and acquiring the object distance information between the objects in the operating room.
The beneficial effects are that: through the operating room object information and the inter-object distance information in the accurate discernment operating room to the condition of collision appears because the object is omitted in the going on of subsequent adjustment process is prevented.
Further, the path planning unit includes a base distance module and a path obtaining module, which are connected to each other, the base distance module obtains base distance information between the base and other objects according to the operating room model and the inter-object distance information, the path obtaining module plans the base of the mechanical arm to be adjusted to obtain planned path information, and selects the target adjustment path from the planned path information with the base distance information as a constraint condition.
The beneficial effects are that: when the path obtaining module carries out path planning on the base to obtain planned path information, the distance information between the base and other objects in the operating room is obtained through the base distance module, so that the distance between the base and other objects can be conveniently obtained in real time in the subsequent base adjusting process, and the occurrence of collision is reduced.
Further, the path planning unit further includes a path threshold module connected to the path obtaining module, where the path threshold module is configured to set a path threshold, and in a planned path in the planned path information, the path obtaining module removes the planned path in the planned path information, where a value of the base distance information is smaller than the path threshold.
The beneficial effects are that: the path threshold value is set by the path threshold value module, some planned paths in the planned path information which possibly has collision risks can be removed, and the accuracy of the base adjusting process is improved.
Further, the adjusting unit includes a base adjusting module, and the base adjusting module adjusts the position of the base whose position needs to be adjusted according to the target adjusting path until the base reaches the end position of the target adjusting path.
Furthermore, the adjusting unit further comprises at least one of a prompting module, a preparing module and a marking module, wherein the prompting module, the preparing module and the marking module are respectively electrically connected with the base adjusting module, the prompting module is used for prompting an operator whether to adjust the position of the base, the preparing module is used for loosening the surgical instrument on the mechanical arm before the adjustment of the base is started, and the marking module is used for marking an object which is closest to the base in the process of adjusting the base by the base adjusting module.
The beneficial effects are that: carry out the in-process of adjusting at base adjustment module according to the target adjustment route to the base, carry out the suggestion through the suggestion module to the operator and confirm whether carry out position adjustment to the base, prepare the module simultaneously and be used for loosening the surgical instruments on the arm, avoid the in-process that removes the base, surgical instruments on the arm produces the influence, and the mark module is in the adjustment process of base, the object that the moment mark is nearest with the base distance, thereby remind the operator, make the operator can pay close attention to the object around the base constantly, further prevent to take place the collision between base and object around.
Furthermore, the adjusting unit further comprises a warning module, the warning module is connected with the marking module, and when the marking module marks an object closest to the base, the warning module generates warning information when the marked object distance between the marked object and the base is smaller than the path threshold value.
Further, the warning message includes at least one of a sound message and a light message.
The invention further provides an adjusting method of the surgical robot, which comprises the following steps:
acquiring motor position information of a motor in the mechanical arm to judge whether the base needs to adjust the position;
if the base is confirmed to be required to be adjusted, acquiring operating room environment information of an operating room where the mechanical arm is located, and establishing an operating room model according to the operating room environment information;
planning a path of the base according to the operating room environment information and the operating room model and obtaining a target adjustment path;
and adjusting the position of the base according to the target adjustment path.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described adjustment method.
The invention provides a terminal, which comprises a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so as to enable the terminal to implement the above-mentioned adjusting method.
Drawings
Fig. 1 is a schematic view of an operation scene of a surgical robot;
FIG. 2 is a schematic diagram of a base carrying a robotic arm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a base carrying a plurality of robotic arms in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of a configuration of a tuning system according to an embodiment of the present invention;
FIG. 5 is a schematic view of the distance between the surgical instrument and the remaining objects according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a state in which an image capturing device according to an embodiment of the present invention uses a camera to capture an image of an operating room;
FIG. 7 is a schematic diagram of a state in which the image capturing device of the embodiment of the present invention uses two cameras to capture an image of an operating room;
FIG. 8 is a schematic diagram of a coordinate system established by the modeling module according to an embodiment of the invention;
FIG. 9 is a schematic diagram of a traversal path of the path obtaining module traversing all possible paths of the base according to the embodiment of the present invention;
FIG. 10 is a schematic diagram of a prompt interface of a prompt module according to an embodiment of the present invention;
FIG. 11 is a schematic view of a surgical instrument according to an embodiment of the present invention in an unclamped state;
FIG. 12 is a schematic view of a surgical instrument according to an embodiment of the present invention in a closed position;
FIG. 13 is a schematic diagram of an interface for marking by the marking module according to the embodiment of the present invention;
FIG. 14 is a schematic structural diagram of an image trolley according to an embodiment of the present invention;
FIG. 15 is a schematic diagram of a prompt interface of the prompt module in the image trolley of FIG. 14 after the adjustment of the base is completed in accordance with the embodiment of the present invention;
fig. 16 is a schematic diagram of a working flow of an adjustment method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.
As shown in fig. 1, which illustrates a surgical application scenario of a surgical robot, in an exemplary embodiment, the surgical robot includes a doctor console 100 and a surgical trolley 200, and a main manipulator (not labeled) is disposed on the doctor console 100. The surgical cart 200 has a plurality of robot arms 201, and the surgical instrument 2 and the endoscope 6 are respectively mountable on the robot arms 201. The main operation process of the surgical robot is that an operator (e.g., a surgeon) performs minimally invasive surgery on a patient on a hospital bed through the remote operation of a doctor console 100 and a main manipulator. Wherein, the main manipulator, the mechanical arm 201 and the surgical instrument form a master-slave control relationship. Specifically, the robot arm 201 and the surgical instrument 2 move in accordance with the operation of the main manipulator during the operation, that is, in accordance with the operation of the main manipulator by the operator's hand. Furthermore, the main operating hand can be set to receive the acting force information of the human tissue organ to the surgical instrument and feed back the acting force information to the hand of the operator, so that the operator can feel the surgical operation more intuitively. The doctor console 100 has a display device which is communicatively connected to the endoscope mounted on the robot arm 201 of the surgical cart 200 and which is capable of receiving and displaying images acquired by the endoscope, such as images of a lesion in the abdomen of a patient. The operator controls the movement of the robot arm and the surgical instrument by the main operation hand based on the image displayed on the display device on the doctor console 100. The endoscope and the surgical instrument are each passed into the patient's site through an aperture created in the patient's body by the punch instrument.
Optionally, in some operations, the surgical robot further includes auxiliary components such as an image trolley 300, an instrument table 400, a ventilator, and an anesthesia machine 500 for use in the operation. The selection and configuration of these auxiliary components can be made by those skilled in the art in light of the prior art and will not be described further herein.
The robot arm 201 may include one or more of a tool arm, an adjustment arm, and a passive joint, or may be a single tandem robot arm.
Further, the surgical robot in the present embodiment may adopt one robot arm 201 mounted on one base 202, as shown in fig. 2 specifically, or adopt one base 202 mounted with a plurality of robot arms 201, as shown in fig. 3 specifically, in the present embodiment, the above-mentioned adjustment system is specifically described by taking an example in which a plurality of robot arms 201 are mounted on one base 202.
When the surgical robot is used in an operating room, all joints of the mechanical arm 201 cannot rotate for 360 degrees due to the limitation of a mechanical structure, and a physical boundary exists during the operation, so that the operation flexibility is influenced, and a collision risk exists.
As shown in fig. 4, the present invention provides an adjusting system of a surgical robot, including an adjusting triggering unit 7, an environment modeling unit 8, a path planning unit 9, and an adjusting unit 10, which are communicatively connected, where the surgical robot includes at least one base 202, at least one mechanical arm 201 is connected to the base 202, and the adjusting unit 10 is connected to the base 202 to adjust the base 202.
The adjustment triggering unit 7 is configured to acquire motor position information of a motor in the mechanical arm 201 to determine whether the mechanical arm 201 has the motor reaching a limit position, and determine whether the mechanical arm 201 needs to be adjusted, that is, whether a base 202 corresponding to the mechanical arm 201 needs to be adjusted;
the environment modeling unit 8 is configured to detect an environment in which the surgical robot is located to obtain operating room environment information, and obtain an operating room model according to the operating room environment information;
the path planning unit 9 is configured to perform path planning on the base according to the operating room model and the position of the base to obtain a target adjustment path;
the adjusting unit 10 adjusts the position of the base 202 of the robot arm 201, whose position needs to be adjusted, according to the target adjustment path.
When the adjusting system is adjusting, when the adjusting triggering unit 7 determines that the base 202 needs to be adjusted according to whether the motor in the mechanical arm reaches the limit position information, the environment modeling unit 8 starts to acquire operating room environment information and establish an operating room model, then the path planning unit 9 performs path planning on the adjustment of the base 202 according to the operating room model to obtain a final target adjustment path, and the adjusting unit 10 adjusts the base 202 according to the target adjustment path, so that the base 202 is adjusted along the target adjustment path until the base 202 moves to the end position of the target adjustment path.
In the whole adjustment process of base 202, the target adjustment route through planning out to calculate the distance between base 202 and other objects in the operating room, make things convenient for base 202 to carry out the accurate adjustment, reduced the risk that base 202 and other objects bump, collision between for example the collision between a plurality of bases, the collision between base and the personnel in the operating room, can effectively compensate the defect that current base can't be adjusted according to the surrounding environment voluntarily, improve the continuity of operation, bring more comfortable experience for the doctor.
In some embodiments, the adjustment triggering unit 7 includes a motor position acquiring module 701, a motor range setting module 702, and a triggering module 703, where the motor position acquiring module 701 is configured to acquire motor position information of a motor in the robot arm 201, the motor range setting module 702 is configured to set a motion range of the motor in the robot arm 201, and the triggering module 703 is configured to determine whether the base 202 needs to adjust a position according to the motor position information and the motion range.
Specifically, in the process of adjusting and judging the base 202 through the adjustment triggering unit 7, since each joint position in the mechanical arm 201 is driven by a motor, the motor position information of the motor in the mechanical arm 201 is acquired through the motor position acquisition module 701, so that the motion state of the mechanical arm 201 can be accurately known; the motor range setting module 702 sets the motion range of the motor in the mechanical arm 201, that is, the motion range of the motor is limited, and after the motion range is set, the motion of the motor in the mechanical arm 201 does not exceed the motion range; the trigger module 703 can determine whether the motor in the robot arm 201 reaches the limit position by comparing the acquired motor position information with the motion range, so as to determine whether the base 202 needs to adjust the position, that is, the base and the motor of the robot arm jointly determine the end position of the robot, the same end position, different base positions correspond to different motor positions of the robot arm, and after the motor in the robot arm currently reaches the limit position, the motor position of the robot arm can be changed by adjusting the base, so that the operation range of the robot is expanded/changed.
Further, when it is determined that the motor position information is close to the movement range of the motor, it may be determined that the motor reaches the limit position, and the position of the base 202 needs to be adjusted.
Preferably, the motor range setting module 702 does not fix the setting of the motion range of the motor, and different motion ranges can be set according to the mechanical arms for mounting different surgical instruments, so as to meet the motion requirements of different mechanical arms.
Further, the trigger adjustment unit 7 further includes a trigger threshold setting module 704, where the trigger threshold setting module 704 is configured to set a motor trigger threshold, the trigger module 703 calculates a motor difference between the motor position information and the limit value of the movement range, and when the motor difference is smaller than the motor trigger threshold, the trigger module 703 determines that the base 202 of the robot arm 201 needs to be adjusted in position.
Since the movement of the motor in the robot arm 201 does not generally exceed the movement range of the motor, when determining whether the motor of the robot arm 201 reaches the limit position, generally by comparing the movement position of the motor with the limit value of the movement range, for some robotic arms 201 carrying different surgical instruments, since the surgical instruments are applied to the human body, when in use, the motor can not be completely rotated to the limit position of the movement range, and the mechanical arm can not be adjusted at the moment, so that the position of the base 202 needs to be adjusted, further, the present application employs a threshold trigger setting unit 704 to set a motor trigger threshold for the motor in the robot arm 201, the motor difference between the motor position information and the limit value of the range of motion is calculated by the triggering module 703, and judging the difference value between the motors and the triggering threshold value of the motors, namely judging whether the base 202 of the mechanical arm 201 where the motors are located needs to be adjusted.
Specifically, when the motor difference is smaller than or equal to the motor trigger threshold, the trigger module 703 determines that the motor exceeds the limit position, and the position of the base 202 needs to be adjusted; when the motor difference is greater than the motor trigger threshold, the trigger module 703 determines that the motor does not exceed the limit position, and does not need to adjust the position of the base 202.
Further, the limit positions of the movement range of the motor include a forward rotation limit position and a reverse rotation limit position, which correspond to the topmost end and the bottommost end of each joint of the mechanical arm 201, and when a difference value between the motor position corresponding to the topmost end or the bottommost end of the mechanical arm and the limit position of the movement range is smaller than a motor trigger threshold value, it is determined that the motor of the mechanical arm 201 reaches the limit position, so that it is determined that the base 202 needs to adjust the position.
In some embodiments, the environment modeling unit 8 includes an environment obtaining module 801, a base identifying module 802, and a modeling module 803, where the environment obtaining module 801 is configured to obtain operating room environment information in an operating room in which the surgical robot is located, the base identifying module 802 is configured to identify the base 202 and obtain base position information of the base 202, and the modeling module 803 establishes an operating room model according to the base position information and the operating room environment information.
After the base 202 is identified by the base identification module 802, the modeling module 803 establishes an operating room model according to the seat information and the operating room environment information acquired by the environment acquisition module 801, so as to accurately acquire information of each object in the operating room, thereby facilitating subsequent adjustment of the base 202.
In some embodiments, the operating room environment information includes operating room object information and object-to-object distance information, the environment obtaining module 801 includes an image collecting device 8011 and a distance processing device 8012, the image collecting device 8011 obtains the operating room object information between objects in the operating room by collecting operating room images, and the distance processing device 8012 is configured to calculate and obtain object-to-object distance information between the objects in the operating room, as shown in fig. 5, by accurately identifying the operating room object information and the object-to-object distance information in the operating room, a subsequent adjustment process is performed, so as to prevent a collision between the objects.
In the process of acquiring the operating room environment information in the operating room where the surgical robot is located by the environment acquisition module 801, the operating room image is acquired by the image acquisition device 8011, and various operating room object information in the operating room is obtained according to the image information, where the operating room object information includes an operator, medical staff, the surgical robot, and other objects appearing in the operating room.
Preferably, the image capturing device 8011 obtains the operating room image by at least one of structured light, laser and binocular vision, and obtains the operating room object information of each object located in the operating room by combining the operating room image.
Specifically, the image capturing device 8011 captures images of the operating room through the camera 11, thereby ensuring accurate capture of information of each object in the operating room.
It should be noted that the image capturing device 8011 comprises at least one camera 11 for capturing images of the operating room.
In some embodiments, the image capturing device 8011 employs one camera 11, and the distance processing device 8012 processes the operating room image according to the operating room image captured by the image capturing device 8011, so as to obtain inter-object distance information between objects in the operating room.
Specifically, as shown in fig. 6, the camera 11 actively emits energy to the operating room to obtain an operating room image, and the distance processing device 8012 obtains the inter-object distance information between each object and the camera 11 by combining the operating room image.
In still other embodiments, the image capturing device 8011 includes two cameras 11, and the distance processing device 8012 processes the operating room images according to two operating room images captured by the two cameras 11 of the image capturing device 8011, so as to obtain inter-object distance information between objects in the operating room
Specifically, as shown in fig. 7, the distance processing device 8012 obtains two images of two cameras 11 in an operating room at a certain distance from each other by using two cameras 11, respectively finds pixel points corresponding to objects in the two images by using a matching algorithm, and obtains depth information between the pixel points by using a calculation method in the prior art (for example, a triangulation principle, triangulation refers to a method of laying a series of continuous triangles on the ground and measuring horizontal positions (coordinates) of vertices of each triangle in an angle measurement manner, which is one of basic methods for establishing a national geodetic network and an engineering measurement control network in geometric geodetic science, and is not repeated here), so as to obtain distance information between the object corresponding to the pixel points and the two cameras 11, and obtain distance information between the objects.
The base recognition module 802 is used to recognize the base 202 of the surgical robot in the operating room, and when specifically recognizing, the base 202 in the operating room image can be recognized by analyzing the operating room image and combining the structural features of the base 202, so as to obtain the base position information.
After the base identification module 802 identifies the base 202, the modeling module 803 builds an operating room model according to the operating room environment information and the base position information, specifically, builds an operating room model of a coordinate system with the base 202 as an origin, so as to determine the position of each object in the operating room in the coordinate system.
Preferably, in this embodiment, when the operating room model is established, the coordinate system is established with the center of the base 202 as the origin, so as to obtain the operating room model, as shown in fig. 8.
Further, the path planning unit 9 includes a base distance module 901 and a path obtaining module 902, where the base distance module 901 obtains base distance information between the base 202 and other objects according to the operating room model and the distance information between the objects, and the path obtaining module 902 performs path planning on the base 202 of the mechanical arm 201 to be adjusted according to the base distance information to obtain planned path information, and obtains a target adjustment path of the base by using the base distance information as a constraint condition, so as to obtain a distance between the base and other objects in real time in a subsequent base adjustment process, thereby further reducing occurrence of collision.
Specifically, the distance between the base 202 and other objects is the minimum of the distances between the whole surgical trolley 200, the robotic arm 201, and the surgical instrument mounted on the robotic arm 201 and other objects, respectively, so as to ensure that the base 202 does not easily collide with other objects in the operating room and is within a safe distance during the adjustment process of the base 202.
The path obtaining module 902 performs path planning on the position adjustment of the base 202, and since the position adjustment of the base 202 is performed by a base motor inside the base 202, when the path planning is performed on the base 202, all possible paths of the base motor are traversed, so that all possible paths of the movement of the base 202 can be obtained when the path is planned, and the obtained planned path information can be screened according to constraint conditions and a target adjustment path can be obtained subsequently.
In some embodiments, the base 202 has n base motors therein, each base motor having a step size SnThe adjusting movement of each base motor at each moment has two possibilities, namely positive rotation SnAnd reverse SnAll possible paths are traversed, and a specific traversal path is shown in fig. 9.
Specifically, when the base 202 path planning is constrained by using the base distance information as the constraint condition, the base distance information is used as the constraint condition in order to reduce the probability of collision between the base 202 and other objects in the operating room, and in the path in the planned path information, a smaller distance between the base and other objects indicates a higher probability of collision, so that the less selectable path is, i.e., the lower probability of selection is.
In a possible embodiment, in the process of screening the planned path information of the base 202 to obtain the target adjustment path through the constraint condition, the constraint condition satisfies the formula:
g ═ 0.1 × α +0.3 × β +0.3 × γ +0.3 × δ; wherein:
epsilon isThe distance between the base 202 and the nearest object in the operating room, λ, is the moving distance of the motionless point of the robotic arm 201 (where the motionless point is a virtual motionless point selected in space according to the operating environment and other factors, and is not actually limited to the robotic arm 201 or the surgical instrument on the robotic arm 201; during the actual operation, the motionless point needs to coincide with the wound position on the target object, so as to avoid causing secondary injury to the patient); μ is a pose change of the surgical instrument of the robot arm 201; v is the change in rotational position of the motor on the robot arm 201, where ηα、ηβ、ηλ、ηδTo adjust the factor, 0 is present when ε, λ, μ, v is greater than the path distance threshold and 1 is present when ε, λ, μ, v is less than or equal to the path distance threshold.
In the constraint condition, λ is a moving distance of an immobile point on the robot arm 201, when the robot arm 201 performs a surgical operation through a surgical instrument in an operating room, there is a mechanism immobile point (hereinafter referred to as an immobile point), that is, when the robot arm 2 operates, a superposition position of an operation part of the surgical instrument 5 on the robot arm 2 and a position close to a patient generally does not move frequently or slightly moves, and when the immobile point moving distance is too large, the surgical operation of the robot arm 2 is affected, and the immobile point is the superposition position, so that when the constraint condition is considered, the moving distance of the immobile point needs to be considered;
μ is the pose change of the surgical instrument of the mechanical arm 201, and since the position and the pose of the surgical instrument connected to the mechanical arm 201 may also change in the adjustment process of the base 202, the stability of the surgical instrument in the adjustment process is ensured by calculating and constraining the pose change of the surgical instrument, and the situation that the surgical instrument has large offset to cause excessive displacement of the immobile spot and cause secondary damage to the human body is avoided;
v is the change of the rotational position of the motor on the mechanical arm 201, since the adjustment of the mechanical arm 201 is controlled by the corresponding motor, and the number of the motors on one mechanical arm 201 is multiple, when the base 202 is specifically adjusted, no matter whether the motor on the mechanical arm 201 is one or multiple motors, it is necessary to ensure that the rotational position of the motor on the mechanical arm 201 cannot reach the limit position when the motor on the mechanical arm 201 is adjusted.
And further wherein etaα、ηβ、ηλ、ηδWhen any parameter exceeds the set parameter threshold value, the current adjustment does not meet the requirement, so that the result G of the whole constraint formula is close to infinity, the corresponding path is excluded, namely the path is constrained in a parameter mode, and only when all the parameters meet the conditions and the final result G of the constraint formula is the optimal solution in the planning path information when the numerical value is the minimum value, namely the target adjustment path is obtained.
It should be noted that the constraint condition set above is only one way in the specific embodiment, and the solution of the present application may also be applied to the planned path information in other constraint ways.
In the above process, when the constraint conditions are used to perform constraint screening on the paths in the path planning information, different constraint conditions may be selected according to different situations, and any constraint condition using the base distance information between the base and other objects may be used in the present technical solution, and is not described herein again.
Further, the path planning unit 9 further includes a path threshold module 903, where the path threshold module 903 is configured to set a path threshold, and in the planned path information, the path obtaining module 902 removes a planned path whose value of the base distance information in the planned path information is smaller than the path threshold.
The path threshold value is set by the path threshold value module 903, some planned paths in the planned path information which may have collision risks can be removed, and safety in the base adjustment process is improved.
Specifically, by using the path threshold set by the path threshold module 903, in all paths of the planned path information, when the distance between the base distance information and any one path is smaller than the path threshold, it indicates that there is a collision risk in the base 202 in the path, and therefore the path acquisition module 902 directly removes the path from the planned path information, thereby reducing the workload of the subsequent path acquisition module 902 for screening the path through the constraint condition, and improving the subsequent screening efficiency.
Preferably, the size of the path threshold set by the path threshold module 903 can be adjusted according to different conditions, so as to be beneficial to removing paths with potential collision risks in the planned path information, and further reduce the probability of collision of the base 202 in the adjustment process.
In some embodiments, the adjusting unit 10 includes a base adjusting module 1001, and the base adjusting module 1001 adjusts the position of the base 202, whose position needs to be adjusted, according to the target adjusting path until the base reaches an end position according to the target adjusting path.
The base adjusting module 1001 of the adjusting unit 10 directly outputs a control signal to the base motor inside the base 202 to control the base 202 to adjust the position along the target adjusting path until reaching the end position of the target adjusting path, thereby completing the path adjustment of the base.
In still other embodiments, the adjusting unit 10 further includes at least one of a prompting module 1002, a preparing module 1003 and a marking module 1004, the prompting module 1002 is electrically connected to the base adjusting module 1001, the prompting module 1002 is configured to prompt an operator whether to adjust the position of the base 202, the preparing module 1003 is configured to release the surgical instrument on the robot arm 201 before the base adjustment is started, and the marking module 1004 is configured to mark an object closest to the base 202 during the adjustment of the base 202 by the base adjusting module 1001.
In the process of adjusting by the adjusting unit 10, when the adjusting system determines that the mechanical arm 201 of the surgical robot reaches the limit position and needs to adjust the base 202, the prompting module 1002 interactively prompts an operator of the current surgical robot to prompt the operator whether to adjust the position of the base, where a specific prompting interface is shown in fig. 10.
After the prompt module 1002 prompts and when an operator selects and determines adjustment on a prompt interface, the prompt module 1002 outputs a control signal to the base adjustment module 1001, so that the base adjustment module 1001 adjusts the base 202 of the surgical robot, and the operator can conveniently adjust the base 202 according to actual conditions.
Further, before the adjustment process of the base 202 is started, the preparation module 1003 releases the surgical instrument mounted on the robot arm 201, so as to ensure that the surgical instrument does not damage the acting object of the surgical robot during the adjustment process of the base 202.
Specifically, with the surgical device released as shown in fig. 11 and the surgical device closed as shown in fig. 12, the base 202 can only be positionally adjusted when the surgical device is in the released state.
Furthermore, in the process of adjusting the base 202 by the base adjusting module 1001, the marking module 1004 constantly calculates the distance between the moved base 202 and the surrounding objects according to the operating room model and the base distance information, marks the object closest to the base 202, and displays the object on the image display interface of the surgical robot, so that an operator can accurately observe the specific condition of the base 202 in the adjusting process, and timely stops when a collision risk may occur, thereby further improving the safety of the base 202 in the adjusting process.
In still other embodiments, the adjusting unit 10 further includes an alert module 1005, where the alert module 1005 is connected to the marking module 1004, and when the marked object distance between the marked object and the base 202 is smaller than the path threshold during the process of marking the object closest to the base 202 by the marking module 1004, the alert module 1005 generates alert information.
In the process that the marking module 1004 marks the objects around the base, the warning module 1005 warns and reminds, when the distance between the object closest to the base 202, that is, the marked object and the base 202 is smaller than a set path threshold, the warning module 1005 generates warning information to strongly remind an operator of the surgical robot, so that the warning is performed before the base 202 collides, and the operator can make different selection operations according to actual conditions.
Furthermore, the warning information comprises at least one of sound information and light information, and the operator is reminded through the sound information and the light information.
In some specific embodiments, as shown in fig. 13 and 14, during the adjustment of the base 202, the marking module 1004 marks an object closest to the base 202 with a box having a different color (e.g., green), and when the distance between the marked object and the base 202 is smaller than the path threshold, the warning module 1005 generates warning information, replaces the green box of the marked object with red and yellow alternately flashing lights, and simultaneously indicates that the base 202 and the marked object are close to each other in a voice prompt manner, so that a collision risk exists, and a good prompt effect is provided for an operator.
Specifically, the display images generated by the warning module 1005, the marking module 1004 and the prompting module 1002 can be displayed on the image trolley 300.
After the adjustment is completed, the prompt module 1002 prompts the adjustment to be completed, and a specific display interface is shown in fig. 15.
Further, as shown in fig. 16, the present invention also provides an adjusting method of a surgical robot, including the following steps:
s1, acquiring motor position information of a motor in the mechanical arm to judge whether the base needs to be adjusted;
s2, if the base is confirmed to need to be adjusted, acquiring operating room environment information of an operating room where the mechanical arm is located, and establishing an operating room model according to the operating room environment information;
s3, planning a path of the base according to the operating room environment information and the operating room model and obtaining a target adjustment path;
and S4, adjusting the position of the base according to the target adjustment path.
Since the specific working process of the adjustment method has been specifically described in the above adjustment system, it is not described herein again.
It should be noted that the division of each unit or module in the above-mentioned regulation system is only a division of logical functions, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these units or modules can be implemented entirely in software called by a processing element; or may be implemented entirely in hardware; and a part of the unit or module can be realized in the form of software called by the processing element, and a part of the unit or module can be realized in the form of hardware. For example, the x unit or module may be a separate processing element, or may be implemented by being integrated into a chip of the system, or may be stored in a memory of the system in the form of program code, and may be called by a processing element of the system to execute the functions of the x unit or module. Other units or modules may be implemented similarly. In addition, all or part of the units or modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In the implementation process, each step of the above method or each unit or module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above units or modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when some of the above units or modules are implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. As another example, these units or modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described adjustment method.
The invention also provides a terminal, which comprises a processor and a memory;
the processor is adapted to execute the computer program described above.
The memory is for storing a computer program. Preferably, the memory comprises: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor is connected with the memory and is used for executing the computer program stored in the memory so as to enable the terminal to execute the method.
Preferably, the Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component.
Claims (14)
1. The adjusting system of the surgical robot is characterized by comprising an adjusting trigger unit, an environment modeling unit, a path planning unit and an adjusting unit which are in communication connection, wherein the surgical robot comprises at least one base, at least one mechanical arm is connected to the base, and the adjusting unit is connected with the base to adjust the base;
the adjusting and triggering unit is used for acquiring motor position information of a motor in the mechanical arm so as to judge whether the base needs to adjust the position;
the environment modeling unit is used for detecting the environment where the surgical robot is located so as to obtain the environment information of an operating room, and obtaining an operating room model according to the environment information of the operating room;
the path planning unit is used for planning a path of the base according to the operating room model to obtain a target adjustment path;
and the adjusting unit adjusts the position of the base with the position needing to be adjusted according to the target adjusting path.
2. The adjustment system of a surgical robot according to claim 1, wherein the adjustment triggering unit includes a motor position acquiring module, a motor range setting module, and a triggering module, the motor position acquiring module is configured to acquire motor position information of a motor in the robot arm, the motor range setting module is configured to set a movement range of the motor in the robot arm, the triggering module is electrically connected to the motor position acquiring module and the motor range setting module, respectively, and the triggering module is configured to determine whether the base needs to adjust a position according to the motor position information and the movement range.
3. The adjustment system of a surgical robot according to claim 2, wherein the trigger adjustment unit further comprises a trigger threshold setting module connected to the trigger module, the trigger threshold setting module is configured to set a motor trigger threshold, the trigger module calculates a motor difference between the motor position information and the limit value of the movement range, and when the motor difference is smaller than the motor trigger threshold, the trigger module determines that the base needs to be adjusted in position.
4. The adjustment system of a surgical robot according to claim 1, wherein the environment modeling unit includes an environment acquisition module, a base recognition module, and a modeling module, the environment acquisition module is configured to acquire operating room environment information in an operating room in which the surgical robot is located, the base recognition module is configured to recognize the base and acquire base position information of the base, and the modeling module is respectively connected to the base recognition module and the environment acquisition module and establishes an operating room model according to the base position information and the operating room environment information.
5. The adjustment system of a surgical robot according to claim 4, wherein the operating room environment information includes operating room object information and inter-object distance information, the environment acquisition module includes an image acquisition device that acquires the operating room object information in the operating room by acquiring an operating room image, and a distance processing device that calculates and acquires inter-object distance information between objects in the operating room.
6. The adjustment system of a surgical robot according to claim 5, wherein the path planning unit includes a base distance module and a path obtaining module that are connected to each other, the base distance module obtains base distance information between the base and another object according to the operating room model and the inter-object distance information, the path obtaining module plans the base of the robot arm to be adjusted to obtain planned path information, and selects the target adjustment path from the planned path information with the base distance information as a constraint condition.
7. The adjustment system of a surgical robot according to claim 6, wherein the path planning unit further includes a path threshold module connected to the path obtaining module, the path threshold module is configured to set a path threshold, and the path obtaining module removes a planned path in the planned path information, in which a value of the base distance information in the planned path information is smaller than the path threshold.
8. The adjustment system of a surgical robot according to claim 6, wherein the adjustment unit comprises a base adjustment module, and the base adjustment module adjusts the position of the base to be adjusted according to the target adjustment path, so that the base reaches its end position along the target adjustment path.
9. The adjustment system of a surgical robot according to claim 8, wherein the adjustment unit further includes at least one of a prompt module, a preparation module, and a marking module, the prompt module, the preparation module, and the marking module are electrically connected to the base adjustment module respectively, and the prompt module is configured to prompt an operator whether to adjust the position of the base, the preparation module is configured to release the surgical instrument on the robot arm before the base adjustment is started, and the marking module is configured to mark an object closest to the base during the adjustment of the base by the base adjustment module.
10. The adjustment system of a surgical robot according to claim 9, wherein the adjustment unit further comprises an alert module, the alert module is connected to the marking module, and the alert module generates alert information when a marked object distance between the marked object and the base is smaller than the path threshold value in a process of marking an object closest to the base by the marking module.
11. The adjustment system for a surgical robot according to claim 10, wherein the warning message includes at least one of a sound message and a light message.
12. An adjustment method of a surgical robot is characterized by comprising the following steps:
acquiring motor position information of a motor in the mechanical arm to judge whether the base needs to adjust the position;
if the base is confirmed to be required to be adjusted, acquiring operating room environment information of an operating room where the mechanical arm is located, and establishing an operating room model according to the operating room environment information;
planning a path of the base according to the operating room environment information and the operating room model and obtaining a target adjustment path;
and adjusting the position of the base according to the target adjustment path.
13. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the adjustment method as claimed in claim 12.
14. A terminal comprising a processor and a memory;
the memory is used for storing a computer program;
the processor is adapted to execute the computer program stored in the memory to cause the terminal to implement the adaptation method of claim 12.
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| CN202011149509.4A CN112263332B (en) | 2020-10-23 | 2020-10-23 | System, method, medium, and terminal for adjusting surgical robot |
| PCT/CN2021/119025 WO2022083372A1 (en) | 2020-10-23 | 2021-09-17 | Surgical robot adjustment system and method, medium, and computer device |
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| CN202011149509.4A CN112263332B (en) | 2020-10-23 | 2020-10-23 | System, method, medium, and terminal for adjusting surgical robot |
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| CN112263332B (en) | 2022-08-05 |
| WO2022083372A1 (en) | 2022-04-28 |
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