CN114528737A - Configuration evaluation method and device for endoscopic surgery robot - Google Patents
Configuration evaluation method and device for endoscopic surgery robot Download PDFInfo
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Abstract
The invention provides a configuration evaluation method and a configuration evaluation device for an endoscopic surgery robot, wherein the configuration evaluation method for the endoscopic surgery robot comprises the following steps: acquiring the configuration of a surgical robot; according to the configuration, constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in endoscopic surgery; detecting the collision condition of the surgical instrument and the mechanical arm according to the configuration and the motion space; evaluating the configuration and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition. The evaluation method of the configuration of the endoscopic surgery robot is used for evaluating the configuration of the corresponding surgical robot, the insertion posture of the surgical instrument in the endoscopic surgery and the like according to the collision condition of the surgical instrument and the mechanical arm of the surgical robot in the corresponding endoscopic surgery, so that the configuration of the surgical robot can be adjusted and improved according to the situation, and a relatively better insertion posture aiming at the endoscopic surgery type under the structure of the current surgical robot is sought.
Description
Technical Field
The invention relates to the technical field of endoscopic surgery robots, in particular to a configuration evaluation method and device of an endoscopic surgery robot.
Background
When the laparoscopic surgery robot carries out the laparoscopic surgery, due to the position constraint of a poking card (trocar), the movable space of the mechanical arms of the laparoscopic surgery robot is small, and the collision conditions between the mechanical arms of the laparoscopic surgery robot and between surgical instruments directly reflect the usability of the equipment. Therefore, it is necessary to evaluate the quality of the structure, ease of use, and the like of the endoscopic surgical robot based on the collision between the robot arm of the endoscopic surgical robot and the surgical instrument.
Disclosure of Invention
The invention solves the problems that: how to provide an evaluation method for the configuration of an endoscopic surgical robot.
In order to solve the problems, the invention provides a configuration evaluation method of an endoscopic surgery robot, which comprises the following steps:
acquiring the configuration of a surgical robot;
according to the configuration, constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in the endoscopic surgery;
detecting the collision condition of the surgical instrument and the mechanical arm according to the configuration and the motion space;
evaluating the configuration and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
Optionally, the configuration of the surgical robot includes structural parameters and degrees of freedom configuration of preoperative positioning and intraoperative motion of the surgical robot.
Optionally, the acquiring a configuration of the surgical robot comprises:
acquiring a surgical record of the endoscopic surgery using the surgical robot;
determining a configuration of the surgical robot from the surgical record.
Optionally, according to the configuration, the constructing the motion space of the surgical instrument held by the mechanical arm of the surgical robot in the endoscopic surgery comprises:
and constructing the motion space by taking the human body model as a reference according to the configuration.
Optionally, the constructing the motion space comprises:
constructing a first motion region of the surgical instrument moving in proximity to a lesion;
and constructing a second spherical motion area which comprises the first motion area and has a radius of a first preset radius.
Optionally, the detecting the collision condition of the surgical instrument and the mechanical arm according to the configuration and the motion space comprises:
performing movement simulation of preoperative positioning and intraoperative actions of the surgical robot according to the configuration;
and detecting collision conditions between the surgical instruments and between the mechanical arms according to the motion simulation and the motion space.
Optionally, the detecting the collision condition between the surgical instruments and between the mechanical arms in the motion space comprises:
meshing the first motion region and the second motion region;
respectively determining a first node number of the first motion area and a second node number of the second motion area;
and respectively determining a first collision node number and a second collision node number of grid nodes passed by the surgical instruments in the first motion area and the second motion area when the surgical instruments and the mechanical arms collide with each other.
Optionally, said evaluating said configuration and insertion pose of said surgical instrument in said laparoscopic surgery according to said collision condition comprises:
respectively calculating a first collision rate of the surgical instrument and the grid nodes in the first motion area and a second collision rate of the surgical instrument and the grid nodes in the second motion area when the surgical instrument and the mechanical arm collide with each other according to the first node number, the second node number, the first collision node number and the second collision node number;
calculating the weighting coefficients of the first collision rate and the second collision rate to be a first weighting coefficient and a second weighting coefficient respectively, wherein the sum of the first weighting coefficient and the second weighting coefficient is equal to 1;
evaluating the surgical robot configuration and the insertion pose of the surgical instrument in the laparoscopic surgery according to the first collision rate, the second collision rate, and the weighted collision rate.
In order to solve the above problems, the present invention further provides an endoscopic surgical robot configuration evaluation device, including:
an acquisition unit for acquiring a configuration of the surgical robot;
the calculation and identification unit is used for constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in the endoscopic surgery according to the configuration; the collision condition of the surgical instrument and the mechanical arm is detected according to the configuration and the motion space; and the system is used for evaluating the configuration and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
In order to solve the above problems, the present invention further provides an apparatus for evaluating configuration of an endoscopic surgical robot, comprising a computer readable storage medium storing a computer program and a processor, wherein when the computer program is read and executed by the processor, the method for evaluating configuration of an endoscopic surgical robot as described above is implemented.
Compared with the prior art, the invention has the following beneficial effects: the endoscopic surgery robot configuration evaluation method is used for evaluating the configuration of a corresponding surgical robot, the insertion posture of the surgical instrument in the endoscopic surgery and the like according to the collision condition of the surgical robot between the surgical instruments and between mechanical arms in the corresponding endoscopic surgery, so that the configuration of the surgical robot can be conveniently adjusted and improved according to the situation, and a relatively better insertion posture aiming at the endoscopic surgery type under the structure of the current surgical robot is sought. The configuration of the surgical robot is obtained, so that powerful and reliable basis is provided for motion simulation, configuration evaluation and the like of the surgical robot; the motion space is constructed so as to calculate the collision condition such as the collision rate, thereby facilitating the analysis and evaluation of the configuration of the surgical robot and the like.
Drawings
FIG. 1 is a flow chart of a configuration evaluation method of an endoscopic surgical robot in an embodiment of the present invention;
FIG. 2 is a flow chart of step 100 in an embodiment of the present invention;
FIG. 3 is a flow chart of step 200 in an embodiment of the present invention;
FIG. 4 is a flow chart of step 300 in an embodiment of the present invention;
FIG. 5 is a flowchart of step 320 in an embodiment of the present invention;
FIG. 6 is a flow chart of step 400 in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a configuration evaluation device of an endoscopic surgical robot in an embodiment of the invention.
Description of reference numerals:
10-an acquisition unit; 20-calculating the identification unit.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1, an embodiment of the present invention provides a configuration evaluation method for an endoscopic surgical robot, including the following steps:
and step 100, acquiring the configuration of the surgical robot.
Specifically, the configuration of various different types (models) of endoscopic surgical robots (hereinafter referred to as surgical robots) is acquired; the configuration of the surgical robot includes preoperative positioning of the surgical robot in corresponding endoscopic surgery (e.g., laparoscopic surgery, thoracoscopic surgery, arthroscopic surgery, etc.) and structural parameters and freedom configuration modes of intraoperative actions (e.g., freedom configuration modes of mechanical arms such as a left mechanical arm, a right mechanical arm, an auxiliary arm, etc. of the surgical robot). In some embodiments, the structural parameters and the configuration of the degree of freedom of preoperative positioning and intraoperative actions of different surgical robots in different endoscopic surgeries can be obtained through current endoscopic surgery records of various hospitals.
And 200, constructing a motion space of the surgical instrument held by the mechanical arm of the surgical robot in the endoscopic surgery according to the configuration.
Specifically, according to the configuration of the surgical robot obtained in step 100, with the human body models of the built-in organs of the human body, the intestines and the stomach, and the like, which correspond to the respective endoscopic surgeries, as references, the motion space of the surgical instruments held by the robotic arms of the surgical robot in the respective endoscopic surgeries on the human body models is constructed (restored), that is, the space set of the working areas including various operations (motions) performed by the surgical instruments held by the robotic arms of the surgical robot in the respective endoscopic surgeries on the human body models is constructed. The construction of the motion space can be realized by adopting corresponding robot motion simulation software, namely, the construction of the motion space of the surgical instrument held by the surgical robot in the endoscopic surgery can be carried out by inputting the configuration of the surgical robot in the endoscopic surgery on the robot motion simulation software.
And step 300, detecting the collision condition of the surgical instrument and the mechanical arm according to the configuration and the motion space.
Specifically, according to the configuration of the surgical robot obtained in step 100 and the motion space regarding the surgical instrument constructed in step 200, collision conditions between the surgical instruments and between the robot arms occurring when the surgical instrument held by the surgical robot performs various operations in the motion space in the corresponding endoscopic surgery are detected (using robot motion simulation software), for example, collision rates between the surgical instruments and between the robot arms are detected, so as to be used in subsequent steps to evaluate the configuration and the like of the corresponding surgical robot.
And 400, evaluating the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
Specifically, according to the collision condition of the surgical robot obtained in step 300 between the surgical instruments and between the robotic arms in the corresponding endoscopic surgery, the configuration, the usability, and the like of the surgical robot are evaluated for the purpose of adjusting, improving, and the like the configuration of the surgical robot according to the condition, so as to obtain the optimal configuration of the surgical robot in the corresponding endoscopic surgery. Moreover, the influence of the insertion postures of the surgical instruments and the lens (endoscope) held by different surgical robots on the corresponding endoscopic surgery can be analyzed and evaluated so as to find out a relatively better insertion posture for the endoscopic surgery type under the current surgical robot structure.
Therefore, the evaluation method of the configuration of the endoscopic surgical robot is used for evaluating the configuration of the corresponding surgical robot, the insertion posture of the surgical instrument in the endoscopic surgery and the like according to the collision condition of the surgical robot between the surgical instruments and between the mechanical arms in the corresponding endoscopic surgery, so that the configuration of the surgical robot can be conveniently adjusted and improved according to the situation, and a relatively better insertion posture aiming at the endoscopic surgery type under the current structure of the surgical robot can be sought. The configuration of the surgical robot is obtained, so that powerful and reliable basis is provided for motion simulation, configuration evaluation and the like of the surgical robot; the motion space is constructed so as to calculate the collision condition such as the collision rate, thereby facilitating the analysis and evaluation of the configuration of the surgical robot and the like.
Optionally, the configuration of the surgical robot includes the structural parameters and the configuration of the degrees of freedom of the preoperative positioning and the intraoperative motion of the surgical robot.
The configuration of the surgical robot comprises structural parameters and freedom degree configuration modes of preoperative positioning and intraoperative actions of the surgical robot in corresponding endoscopic surgery, and the structural parameters and the freedom degree configuration modes can be obtained through corresponding endoscopic surgery records of corresponding surgical robots adopted by various hospitals at present. The configuration of the surgical robot is obtained, so that the motion process of the mechanical arm of the surgical robot and the surgical instruments held by the mechanical arm in the corresponding endoscopic surgery can be conveniently restored and reproduced.
Optionally, as shown in fig. 1 and fig. 2, step 100 includes:
step 110, obtaining an operation record of an endoscopic operation by using an operation robot;
and step 120, determining the configuration of the surgical robot according to the surgical record.
Specifically, the configuration of various endoscopic surgical robots of different types (models) adopted by different main surgeons in different endoscopic surgical modes is obtained by obtaining surgical records of corresponding endoscopic surgeries adopted by corresponding surgical robots in various hospitals at present, so that the configuration is used for restoring and reproducing the motion processes of the mechanical arm and surgical instruments held by the mechanical arm of the corresponding surgical robot in the corresponding endoscopic surgeries in subsequent steps.
Optionally, step 200 comprises:
according to the configuration, a motion space is constructed by taking the human body model as a reference.
Specifically, with a human body model such as a built-in organ and intestines and stomach of a human body corresponding to a corresponding endoscopic surgery as a reference, according to the configuration of the surgical robot obtained through the surgical record, corresponding robot motion simulation software is adopted to construct (restore) a motion space of a surgical instrument held by a mechanical arm of the surgical robot on the human body model in the endoscopic surgery, namely a space set of working areas containing various operations (motions) performed by the surgical instrument held by the mechanical arm of the surgical robot on the human body model in the corresponding endoscopic surgery is constructed.
Optionally, as shown in fig. 1 and fig. 3, constructing the motion space includes:
step 210, a first motion region of a surgical instrument moving near a lesion is constructed.
Specifically, according to the configuration of the surgical robot and the human body model, a motion space (denoted as a first motion region) of the surgical instrument moving near the human body focus is constructed, that is, a core (centralized) operation region of the surgical instrument in the endoscopic surgery is constructed, that is, the first motion region is a surgery operation centralized region which is obtained through research and has a larger reference meaning.
Step 220, a second motion area which comprises the first motion area and has a radius of a first preset radius and is in a spherical shape is constructed.
Specifically, based on the first motion region that has been constructed, a second motion region in a spherical shape that contains the first motion region is constructed. The second motion area is set to simulate an area except a core operation area near a focus in actual clinic, and when the endoscopic surgery is performed, the surgical instrument hardly moves to the area except the core operation area. For example, in endoscopic surgery, the surgeon may sometimes attach the absorbable suture to an insignificant muscle, and the motion region of the surgical instrument in this procedure is the second motion region portion defined above. Although the second motion area does not affect the endoscopic surgery operation, if the surgical instrument can flexibly move in the second motion area, the operation hand feeling and the operation efficiency of a doctor can be improved, so that the second motion area is constructed in the step, and multi-level evaluation on the endoscopic surgery robot can be conveniently realized on the basis of the first motion area.
The radius of the second motion area is a first preset radius, and the first preset radius can be set according to requirements. The influence of the radius of the second area on the final evaluation result is that, depending on the configuration of the equipment, the coverage capability of some equipment on the first motion area is relatively strong, and the coverage capability on the second motion area is relatively weak; or some devices have stronger covering capability on the second motion area and weaker covering capability on the first motion area. In most cases, an increased radius of the second motion region will impose more stringent requirements on the apparatus, and will reduce the second collision rate Pc2And a weighted collision rate Pcw(described later).
Optionally, as shown in fig. 1 and fig. 4, the step 300 specifically includes the following steps:
step 310, performing preoperative positioning and intraoperative motion simulation of the surgical robot according to the configuration;
and 320, detecting collision conditions between surgical instruments and between mechanical arms according to the motion simulation and the motion space.
Specifically, according to the configuration of the surgical robot obtained in step 100, the preoperative positioning and intraoperative motion simulation of the surgical robot mechanical arm, the surgical instrument, and the like are performed (using robot motion simulation software). And then according to the motion simulation, detecting and recording the collision conditions between different surgical instruments and between mechanical arms when the surgical instruments held by the surgical robot in the corresponding endoscopic surgery perform various operations in corresponding motion spaces (such as a first motion area and a second motion area), for example, detecting the collision rates between different surgical instruments and between mechanical arms, so as to obtain the collision conditions of the surgical robots in different configurations performing the surgery in different endoscopic surgery type environments, so as to be used for evaluating the configurations of the corresponding surgical robots in subsequent steps and the like. Moreover, the method can be executed efficiently and quickly by adopting the robot motion simulation.
Optionally, as shown in fig. 1, 4 and 5, the detecting the collision between the surgical instruments and the robotic arms includes:
step 321, gridding the first motion area and the second motion area.
Specifically, the first motion region and the second motion region are respectively subjected to mesh division, for example, the first motion region (second motion region) is divided into a plurality of cubic meshes with a side length of a first preset side length, so that the first motion region (second motion region) is composed of a plurality of cubic meshes with a side length of the first preset side length. The first preset side length can be set according to actual requirements, and the smaller the first preset side length is, the denser the grid division of the first motion area (second motion area) is, and the larger the subsequent calculation amount is.
Optionally, it is preferable that the first motion area and the second motion area are gridded by using the same specification, for example, the first motion area and the second motion area are each divided into a plurality of cubic grids with a side length of 2 cm.
Step 322, respectively determining the first node number I of the first motion region1And a second number of nodes I of a second motion region2。
In particular, the amount of the solvent to be used,collecting nodes (e.g., vertices of cubic grids, where a common vertex of a plurality of cubes is recorded as a node) of all grids of the first motion region and the second motion region respectively according to the grids of the first motion region and the second motion region divided in step 321, and determining the number of the grid nodes of the first motion region as the number I of the first nodes1Determining the number of all grid nodes in the second motion area as the number I of second nodes2。
Step 323, respectively determining the first collision node number I of the grid nodes passed by the surgical instruments in the first motion area and the second motion area when the surgical instruments and the mechanical arms collidec1And the number of second collision nodes Ic2。
Specifically, the number of mesh nodes (denoted as the number of first collision nodes I) of the first motion region through which the surgical instrument passes when the surgical instrument and the robotic arm collide with each other is determined according to the meshes of the first motion region and the second motion region divided in step 321c1) And determining the number of grid nodes (marked as the number I of second collision nodes) of a second motion area passed by the surgical instruments when the surgical instruments and the mechanical arms collidec2)。
Optionally, as shown in fig. 1 and fig. 6, the step 400 specifically includes the following steps:
step 410, according to the first node number I1Number of second nodes I2Number of first collision nodes Ic1And the number of second collision nodes Ic2Respectively calculating a first collision rate P between the surgical instruments and the grid nodes in the first motion area when the surgical instruments and the mechanical arms collide with each otherc1And a second collision rate P of the surgical instrument with the mesh node in a second region of motionc2。
In particular, according to the number I of first nodes1And the number of first collision nodes Ic1Calculating a first collision rate P when collisions occur between the surgical instruments and between the robot armsc1＝Ic1/I1(ii) a According to the number of second nodes I2And the number of second collision nodes Ic2Calculating the spacing between surgical instruments and the robotic armSecond collision rate P when collision occursc2＝Ic2/I2。
Step 420, calculating a first collision rate Pc1And a second collision rate Pc2Are respectively a first weighting coefficient s1And a second weighting coefficient s2Weighted collision rate P of timecwWherein the first weighting coefficient s1And a second weighting coefficient s2The sum of (a) and (b) is equal to 1.
Specifically, the collision rate P is weightedcw＝s1*Pc1+s2*Pc2. Wherein s is1+s2＝1。s1And s2Can be adjusted according to requirements, for example, s can be increased appropriately when the flexibility of the surgical robot needs to be considered heavily2Is decreased by s1The value of (c). In some embodiments, s1Take 0.7, s20.3 is taken to indicate the importance of the first motion region.
430, according to the first collision rate Pc1Second collision rate Pc2And weighted collision rate PcwAnd evaluating the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery.
In particular, by a first collision rate P for different surgical robotsc1Second collision rate Pc2And weighted collision rate PcwCompared with the prior art, the surgical robot with a better configuration and the insertion posture of the surgical instrument in the endoscopic surgery can be selected, so that the direction and the basis are provided for the improvement of the surgical robot, and the insertion posture of the surgical instrument in the endoscopic surgery is convenient to optimize. For example, in the same or similar endoscopic surgery, the first collision rate Pc1(weighted Collision Rate Pcw) Smaller surgical robots are preferred; in the same or similar endoscopic surgery, when the same or similar surgical robot is used, the first collision rate Pc1(weighted Collision Rate Pcw) Smaller surgical robots have better insertion postures of surgical instruments, and so on.
Optionally, in some implementations, step 323 may also be the first motion region and the second motion region divided according to step 321A grid of motion regions, determining the number of grid nodes (denoted as I) of a first motion region through which the surgical instrument passes when a collision occurs between the surgical instrumentsc11) Determining the number of grid nodes (denoted as I) of the first motion region passed by the surgical instrument in the event of a collision between the mechanical armsc12) Determining the number of grid nodes (denoted as I) of the second motion region passed by the surgical instrument when the surgical instrument collides with each otherc21) Determining the number of grid nodes (denoted as I) of the second motion region passed by the surgical instrument when the mechanical arms collidec22). Thus, Ic11、Ic21Respectively replace the above Ic1、Ic2Can be independently combined with the condition of collision among surgical instruments to carry out Pc1、Pc2And PcwTo evaluate the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery; or will Ic12、Ic22Respectively replace the above Ic1、Ic2Can be independently combined with the condition of collision between mechanical arms to carry out Pc1、Pc2And PcwTo evaluate the surgical robot configuration and the insertion pose of the surgical instrument during laparoscopic surgery.
Referring to fig. 7, another embodiment of the present invention provides a configuration evaluation device for an endoscopic surgical robot, including:
an acquisition unit 10 for acquiring a configuration of the surgical robot;
the calculation and recognition unit 20 is used for constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in the endoscopic surgery according to the configuration; the collision condition of the surgical instrument is detected according to the configuration and the motion space; and the system is used for evaluating the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
In this embodiment, the configuration evaluation device of the endoscopic surgical robot implements the configuration evaluation method of the endoscopic surgical robot through the matching of the structures of the acquisition unit 10, the calculation and recognition unit 20, and the like, so as to evaluate the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision conditions of the surgical robot between the surgical instruments and between the mechanical arms in the corresponding endoscopic surgery, thereby facilitating the adjustment and improvement of the configuration of the surgical robot based on the collision conditions, and seeking a relatively better insertion posture and the like for the endoscopic surgery based on the current configuration of the surgical robot.
The invention further provides an endoscopic surgery robot configuration evaluation device which comprises a computer readable storage medium and a processor, wherein the computer readable storage medium is used for storing a computer program, and when the computer program is read and executed by the processor, the configuration evaluation device realizes the endoscopic surgery robot configuration evaluation method.
In this embodiment, through the cooperation of the processor, the computer-readable storage medium, and other structures of the configuration evaluation device for the endoscopic surgical robot, the configuration evaluation method for the endoscopic surgical robot is executed, so as to evaluate the configuration of the surgical robot and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition of the surgical robot between the surgical instruments and between the mechanical arms in the corresponding endoscopic surgery, thereby facilitating the adjustment and improvement of the configuration of the surgical robot based on the collision condition, and seeking a relatively better insertion posture for the endoscopic surgery based on the current configuration of the surgical robot.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. An evaluation method for a configuration of an endoscopic surgical robot is characterized by comprising the following steps:
acquiring the configuration of a surgical robot;
according to the configuration, constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in the endoscopic surgery;
detecting the collision condition of the surgical instrument and the mechanical arm according to the configuration and the motion space;
evaluating the configuration and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
2. The method for evaluating configuration of an endoscopic surgical robot according to claim 1, wherein said configuration of said surgical robot comprises configuration of structural parameters and degrees of freedom of preoperative positioning and intraoperative motion of said surgical robot.
3. The method for evaluating configurations of endoscopic surgical robots of claim 1 wherein said obtaining the configuration of a surgical robot comprises:
acquiring a surgical record of the endoscopic surgery using the surgical robot;
determining a configuration of the surgical robot from the surgical record.
4. An evaluation method for configuration of an endoscopic surgical robot according to any one of claims 1 to 3, wherein said constructing a motion space of a robot arm of said surgical robot for holding a surgical instrument in an endoscopic surgery according to said configuration comprises:
and constructing the motion space by taking the human body model as a reference according to the configuration.
5. The configuration evaluation method for endoscopic surgical robots according to claim 4, wherein said constructing said motion space comprises:
constructing a first motion region of the surgical instrument moving in proximity to a lesion;
and constructing a second spherical motion area which comprises the first motion area and has a radius of a first preset radius.
6. The method for evaluating configuration of an endoscopic surgical robot according to claim 5, wherein said detecting a collision between said surgical instrument and said robotic arm based on said configuration and said motion space comprises:
performing movement simulation of preoperative positioning and intraoperative actions of the surgical robot according to the configuration;
and detecting collision conditions between the surgical instruments and between the mechanical arms according to the motion simulation and the motion space.
7. The method for evaluating configuration of an endoscopic surgical robot as defined in claim 6, wherein said detecting a collision between said surgical instruments and said robotic arms comprises:
meshing the first motion region and the second motion region;
respectively determining a first node number of the first motion area and a second node number of the second motion area;
and respectively determining a first collision node number and a second collision node number of grid nodes passed by the surgical instruments in the first motion area and the second motion area when the surgical instruments and the mechanical arms collide with each other.
8. The method for evaluating configurations of an endoscopic surgical robot as recited in claim 7, wherein said evaluating said configurations and insertion postures of said surgical instruments during said endoscopic surgery based on said collision comprises:
respectively calculating a first collision rate of the surgical instrument and the grid nodes in the first motion area and a second collision rate of the surgical instrument and the grid nodes in the second motion area when the surgical instrument and the mechanical arm collide with each other according to the first node number, the second node number, the first collision node number and the second collision node number;
calculating the weighting coefficients of the first collision rate and the second collision rate to be a first weighting coefficient and a second weighting coefficient respectively, wherein the sum of the first weighting coefficient and the second weighting coefficient is equal to 1;
evaluating the surgical robot configuration and the insertion pose of the surgical instrument in the laparoscopic surgery according to the first collision rate, the second collision rate, and the weighted collision rate.
9. The utility model provides an laparoscopic surgery robot configuration evaluation device which characterized in that includes:
an acquisition unit (10) for acquiring the configuration of the surgical robot;
a calculation and identification unit (20) for constructing a motion space of a surgical instrument held by a mechanical arm of the surgical robot in endoscopic surgery according to the configuration; the collision condition of the surgical instrument and the mechanical arm is detected according to the configuration and the motion space; and the system is used for evaluating the configuration and the insertion posture of the surgical instrument in the endoscopic surgery according to the collision condition.
10. An endoscopic surgical robot configuration evaluation apparatus comprising a computer-readable storage medium storing a computer program and a processor, wherein when the computer program is read and executed by the processor, the configuration evaluation method of an endoscopic surgical robot according to any one of claims 1 to 8 is implemented.
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