CN115317130A - Surgical robot system, adjustment system, and storage medium - Google Patents
Surgical robot system, adjustment system, and storage medium Download PDFInfo
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- CN115317130A CN115317130A CN202110507239.8A CN202110507239A CN115317130A CN 115317130 A CN115317130 A CN 115317130A CN 202110507239 A CN202110507239 A CN 202110507239A CN 115317130 A CN115317130 A CN 115317130A
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/30—Surgical robots
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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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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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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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention provides a surgical robot system, an adjusting system and a storage medium, wherein the surgical robot system comprises a control end, an operation end and a controller, the operation end comprises at least one mechanical arm, and the controller is used for acquiring initial pose information of a surgical auxiliary device under a preset surgical scene and initial position information of an immobile point of the mechanical arm; acquiring current pose information of the operation auxiliary device; judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device; if so, acquiring the target position information of the motionless point according to the current position information of the surgery assisting device, the initial position information of the surgery assisting device and the initial position information of the motionless point, and correspondingly adjusting the position of the mechanical arm according to the target position information of the motionless point. The invention can realize that each mechanical arm can be correspondingly adjusted in real time along with the adjustment of the operation auxiliary device under the condition of not withdrawing the instrument and/or the endoscope.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a surgical robot system, an adjustment system, and a storage medium.
Background
Before a robot hand operates, firstly, a focus needs to be positioned, a punching point is determined according to the focus position, in the prior art, the punching position of a surgical instrument is generally planned according to the experience of a doctor, then punching is carried out, and then a mechanical arm on a surgical robot is manually guided to the punching point, so that the operation is carried out.
However, the following problems still exist in the robot surgery process so far:
1) Because the punching position is not ideal, collision can occur between the adjacent mechanical arms, so the sickbed position and the mechanical arm position need to be readjusted to improve the distance between the adjacent mechanical arms;
2) Because the position of the focus is not ideal, the motion space of the mechanical arm is greatly reduced, so the position of the sickbed and the position of the mechanical arm need to be readjusted to improve the motion space of the mechanical arm;
3) When a new focus is found in the operation, the treatment of the new focus cannot be normally finished at the current sickbed posture and punching point, and the sickbed position and the mechanical arm position need to be readjusted at the moment.
At present, when the body position of a patient is adjusted under the conditions, the instrument needs to be withdrawn, and is reinserted after readjustment, the process is time-consuming, the operation process is very complicated, the requirement on the proficiency of hospital personnel is high, and whether the position is proper or not cannot be confirmed.
Disclosure of Invention
It is an object of the present invention to provide a surgical robot system, an adjustment system and a storage medium to solve one or more technical problems of the prior art.
In order to achieve the above object, the present invention provides a surgical robot system, including a control end, an operation end and a controller, where the operation end includes at least one mechanical arm, the control end and the operation end have a master-slave control relationship and are used to control the mechanical arm to operate, and the controller is used to:
acquiring initial pose information of a surgery auxiliary device in a preset surgery scene and initial position information of a fixed point of the mechanical arm;
acquiring current pose information of the operation auxiliary device;
judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device; if so, acquiring target position information of the immobile point according to the current pose information of the operation assisting device, the initial pose information of the operation assisting device and the initial position information of the immobile point, and correspondingly adjusting the pose of the mechanical arm according to the target position information of the immobile point;
the operation auxiliary device is a device capable of changing the pose of an operation object in an operation scene.
Optionally, the controller is configured to obtain a preset position mapping relationship between the surgical assistant device and the stationary point according to the initial pose information of the surgical assistant device and the initial position information of the stationary point, and obtain target position information of the stationary point according to the current pose information of the surgical assistant device and the preset position mapping relationship between the surgical assistant device and the stationary point.
Optionally, the surgical aid is a support device for supporting a surgical object.
Optionally, the controller is configured to obtain target position information of each joint of the mechanical arm according to the target position information of the stationary point, obtain a motion trajectory of each joint of the mechanical arm according to the target position information of each joint of the mechanical arm and current position information of each joint of the mechanical arm, and adjust the position of each joint of the mechanical arm according to the motion trajectory of each joint of the mechanical arm.
Optionally, the controller is configured to obtain a motion trajectory of each joint of the mechanical arm by using an interpolation algorithm according to target position information of each joint of the mechanical arm and current position information of each joint of the mechanical arm.
Optionally, the controller is configured to perform shake suppression processing on the obtained motion trajectory of each joint of the mechanical arm, and adjust the position of each joint of the mechanical arm according to the motion trajectory of each joint of the mechanical arm after the shake suppression processing.
Optionally, the controller is configured to obtain a mapping relationship between a robot coordinate system and a world coordinate system, and obtain target position information of the fixed point in the robot coordinate system according to the mapping relationship between the robot coordinate system and the world coordinate system and the target position information of the fixed point in the world coordinate system.
Optionally, the surgical robot system includes a display device, and the display device is configured to display the adjustment state of each mechanical arm.
In order to achieve the above object, the present invention further provides an adjusting system, which includes the surgical robot system and a positioning device, where the positioning device is configured to send pose information of the surgical assistant device in a surgical scene to the controller.
Optionally, the positioning device is configured to send a mapping relationship between a robot coordinate system and a world coordinate system to the controller, and the controller is configured to verify the mapping relationship between the robot coordinate system and the world coordinate system sent by the positioning device according to initial position information of the motionless point in the world coordinate system and initial position information of the motionless point in the robot coordinate system.
Optionally, the adjustment system includes a surgical assistant, and the controller is configured to control the surgical assistant to perform the adjustment movement.
Optionally, the controller is configured to obtain a safe adjustable range of the surgical assistant apparatus, and determine whether an adjustment movement of the surgical assistant apparatus is safe according to the safe adjustable range.
Optionally, the controller is configured to acquire a safe region of the surgical object, and acquire a safe adjustable range of the surgical auxiliary device according to the acquired safe region of the surgical object, an adjustable range of the mechanical arm, and an adjustable range of the surgical auxiliary device.
To achieve the above object, the present invention further provides a readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the functions of the controller in the surgical robot system described above.
Compared with the prior art, the surgical robot system, the adjusting system and the storage medium provided by the invention have the following advantages: according to the invention, initial pose information of an operation auxiliary device under a preset operation scene and initial position information of a stationary point of a mechanical arm are obtained; acquiring current pose information of the operation auxiliary device; judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device; if the position information of the current position of the mechanical arm is the current position information of the surgery auxiliary device, the target position information of the motionless point is obtained, and the position and the posture of the mechanical arm are correspondingly adjusted according to the target position information of the motionless point, so that the position and the posture of the surgery auxiliary device can be adjusted in real time through the current position and posture information of the surgery auxiliary device obtained in real time in the situation that instruments and/or endoscopes do not need to be withdrawn in the surgery process when the position and the posture of the surgery auxiliary device are adjusted according to actual needs of the surgery, the mechanical arm can be correspondingly adjusted along with the position and the posture adjustment of the surgery auxiliary device in real time, the surgery can be completed more efficiently and safely, the requirements on the pre-surgery punching position and the positioning are reduced, and the pre-surgery preparation time is shortened.
Drawings
FIG. 1 is a schematic view of an application scenario of a surgical robotic system according to an embodiment of the present invention;
FIG. 2 is a schematic view of the surgical assistant apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of an adjusted opening position of a surgical assistant apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a positioning apparatus acquiring a mapping relationship between a robot coordinate system and a world coordinate system according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating the process of establishing a mapping relationship between a robot coordinate system and a world coordinate system according to an embodiment of the present invention;
FIG. 6 is a schematic view of a positioning device measuring the position of an opening according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the robotic arm in real time following the adjustment of the surgical assistant in accordance with one embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a process of obtaining a motion trajectory of each joint according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of the robotic arm following the adjustment of the surgical aid in accordance with one embodiment of the present invention;
FIG. 10 is a schematic view illustrating a procedure for obtaining a safe adjustable range of a surgical assistant according to an embodiment of the present invention;
fig. 11 is a flowchart illustrating a method for adjusting a surgical robot system according to an embodiment of the present invention.
Wherein the reference numbers are as follows:
an operation end-100; surgical aid-200; control terminal-300; a positioning device-400; a display device-500; opening a hole-600; a controller-700; a base-110; a robotic arm-120.
Detailed Description
The surgical robot system, the adjustment system and the storage medium according to the present invention will be described in further detail with reference to fig. 1 to 11 and the following detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all drawn to a non-precise scale for the purpose of convenience and clarity only to aid in the description of the embodiments of the invention. To make the objects, features and advantages of the present invention more comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, proportions, sizes, and other elements shown in the drawings and described herein are illustrative only and are not intended to limit the scope of the invention, which is to be given the full breadth of the appended claims and any and all modifications, equivalents, and alternatives to those skilled in the art should be construed as falling within the spirit and scope of the invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
One of the objectives of the present invention is to provide a surgical robot system, an adjustment system and a storage medium, which can adjust the posture of the surgical robot system and adjust the mechanical arm in real time without withdrawing the surgical instrument, so as to solve the problems of limited movement space of the mechanical arm, inconvenience for surgical operation, or failure to completely remove the lesion due to an unsatisfactory drilling position or an incorrect pre-determination of the lesion position. It should be noted that, as will be understood by those skilled in the art, the immobile point referred to herein is one-to-one corresponding to the opening of the surgical object, and the surgical instrument mounted on the robotic arm is capable of performing a surgical operation around the immobile point of the robotic arm during the surgical operation. Therefore, when the pose of the surgical object is changed along with the adjustment of the pose of the surgical auxiliary device, the position of the opening hole is changed, and the position of each immobile point is also changed, so that the position of the immobile point and the position of the opening hole can be kept consistent, that is, the position mapping relationship between each immobile point and the surgical auxiliary device is kept consistent with the initial preset position mapping relationship. The opening referred to in the present invention may be a natural opening located on the body surface of the patient, or may be an opening obtained by performing mechanical perforation on the body surface of the patient, and the present invention is not limited thereto.
To achieve the above object, the present invention provides an adjustment system in a surgical scene, the adjustment system including a positioning device 400 (shown in fig. 3 and 4 below) and a controller 700 (shown in fig. 3 and 4 below); the positioning device 400 is configured to acquire pose information of one or more surgical assistance devices 200 (shown in fig. 1 below) in the surgical scene and send the pose information to the controller 700; the controller 700 is configured to determine whether the pose of the one or more surgical instruments 200 is changed according to the pose information, and if so, correspondingly adjust the pose of the one or more surgical instruments in the surgical scene. The surgical scene is, for example, a scene when a surgical robot performs a surgery, the surgical auxiliary device 200 is an auxiliary device that does not directly perform a surgical operation on a surgical object during the surgery, in an embodiment of the present invention, the auxiliary device includes a device capable of directly or indirectly influencing a posture of the surgical object, for example, the device is a supporting device for supporting the surgical object, for example, a hospital bed, and the surgical operation device is a device for performing a surgery during the surgery, for example, a surgical robot, and more specifically, for example, a mechanical arm 120 (shown in fig. 1) of the surgical robot, and the mechanical arm 120 is used for connecting a surgical instrument and controlling the mechanical arm 120 to perform a surgery.
Referring to fig. 1, a schematic view of an application scenario of a surgical robot system according to an embodiment of the present invention is schematically shown. As shown in fig. 1, the surgical robot system includes an operation end 100 adjacent to a surgical object for performing a surgery, a control end 300 for a surgeon to give instructions to the operation end 100, and a display device 500 for displaying, wherein the operation end 100 includes a base 110 and at least one robot arm 120 mounted on the base 110. The control end 300 and the operation end 100 have a master-slave control relationship and control the robot arm 120 to operate. The controller 700 may be provided in conjunction with any one or more of the devices in the surgical robotic system, such as at the control end 300, or at the operative end 100, or at the display device 500, etc.; in some embodiments, the controller 700 may also be provided at the positioning device 400; in still other embodiments, the controller 700 is provided separately; the controller 700 may be a specific hardware or software unit, or an arrangement of a combination of hardware and software, and the specific arrangement of the controller 700 is not limited in the present invention.
The controller 700 is configured to acquire initial pose information of the surgical assistant apparatus 200 and initial position information of an immobile point of each of the mechanical arms 120 in a preset surgical scene, and acquire current pose information of the surgical assistant apparatus 200; judging whether the pose of the operation auxiliary device 200 changes or not according to the initial pose information and the current pose information of the operation auxiliary device 200; if so, acquiring the target position information of each immobile point according to the current position information of the surgical assistant device 200, the initial position information of the surgical assistant device 200 and the initial position information of each immobile point, and correspondingly adjusting the position of each mechanical arm according to the target position information of each immobile point.
Referring to fig. 2 and fig. 3, fig. 2 schematically shows a schematic diagram of an opening position before adjustment of a surgical assistance device according to an embodiment of the present invention, and fig. 3 schematically shows a schematic diagram of an opening position after adjustment of a surgical assistance device according to an embodiment of the present invention. As shown in fig. 2 and 3, when the posture of the surgical assistant 200 is changed, the posture of the surgical object is changed, and the position of the opening 600 on the surgical object is changed. Therefore, in the operation process, when the pose of the operation assisting device 200 is adjusted according to the actual needs of the operation, the pose of each mechanical arm can be adjusted in real time through the current pose information of the operation assisting device 200 acquired in real time under the condition that instruments and/or endoscopes do not need to be withdrawn, so that the corresponding adjustment of each mechanical arm along with the pose adjustment of the operation assisting device 200 in real time can be realized, the position of each fixed point can be in one-to-one correspondence with the position of each opening 600 (namely the position mapping relation between each fixed point and the operation assisting device 200 is consistent with the initial preset position mapping relation), the operation can be completed more efficiently and more safely, the requirements on the preoperative punching position and the positioning are reduced, and the preoperative preparation time is shortened. It should be noted that, as will be understood by those skilled in the art, the adjustment of the posture of the surgical assistant 200 may be performed manually by a medical staff, or may be performed automatically by using an electrical component mounted on the surgical assistant 200, and preferably, the electrical component mounted on the surgical assistant 200 may adjust the posture of the surgical assistant 200 according to a control signal of the controller 700.
Further, the controller 700 is configured to obtain a preset position mapping relationship between the surgical assistant 200 and each of the immobile points according to the initial pose information of the surgical assistant 200 and the initial position information of each of the immobile points, and obtain target position information of each of the immobile points according to the current pose information of the surgical assistant 200 and the preset position mapping relationship between the surgical assistant 200 and each of the immobile points. The pose information of the surgical assistant apparatus 200 may be measured by using the positioning apparatus 400 described above, and the positioning apparatus 400 may measure the pose by using a binocular vision measurement method, an optical tracking measurement method, or an electromagnetic measurement method. Specifically, the preset position mapping relationship between the surgical assistant 200 and each stationary point may be obtained according to the initial pose information of the surgical assistant 200 in the world coordinate system (X0, Y0, Z0) and the initial position information of each stationary point in the world coordinate system (X0, Y0, Z0) measured by the positioning device 400, and the target position information of each stationary point in the world coordinate system (X0, Y0, Z0) may be obtained according to the current pose information of the surgical assistant 200 in the world coordinate system (X0, Y0, Z0) and the preset position mapping relationship between the surgical assistant 200 and each stationary point.
In order to adjust the pose of each robot arm according to the target position information of each stationary point, the controller 700 is further configured to obtain a mapping relationship between a robot coordinate system (X1, Y1, Z1) and a world coordinate system (X0, Y0, Z0), and obtain target position information of each stationary point of each robot arm 120 in the robot coordinate system (X1, Y1, Z1) according to the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) and the target position information of each stationary point in the world coordinate system (X0, Y0, Z0).
Specifically, the positioning device 400 may acquire the position information of the base 110 in the world coordinate system (X0, Y0, Z0), and the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) may be acquired according to the position information of the base 110 in the world coordinate system (X0, Y0, Z0). Please refer to fig. 4, which schematically illustrates a mapping relationship between a robot coordinate system and a world coordinate system obtained by a positioning apparatus according to an embodiment of the present invention. As shown in fig. 4, in the present embodiment, the positioning device 400 is a binocular camera, and the position and orientation information of the surgical assistant 200 in the world coordinate system (X0, Y0, Z0) and the position and orientation information of the base 110 in the world coordinate system (X0, Y0, Z0) can be measured by the positioning device 400. In a specific measurement process, the positioning device 400 can acquire the pose information of the base 110 and the surgical assistant device 200 in the camera coordinate system (X3, Y3, Z3), and the pose information of the base 110 and the surgical assistant device 200 in the world coordinate system (X0, Y0, Z0) can be acquired according to the mapping relationship between the camera coordinate system (X3, Y3, Z3) and the world coordinate system (X0, Y0, Z0).
Therefore, when the position of the surgical assistant device 200 is adjusted according to actual needs during surgery, the current position information of the surgical assistant device 200 in the world coordinate system (X0, Y0, Z0) is obtained in real time, the target position information of each immobile point in the robot coordinate system (X1, Y1, Z1) is obtained in real time according to the preset position mapping relationship between the surgical assistant device 200 and each immobile point and the mapping relationship between the world coordinate system (X0, Y0, Z0) and the robot coordinate system (X1, Y1, Z1), and the pose of each mechanical arm 120 corresponding to each immobile point is adjusted in real time according to the obtained real-time target position information of each immobile point in the robot coordinate system (X1, Y1, Z1), so that the mechanical arm 120 can be adjusted in real time along with the surgical assistant device 200 without withdrawing surgical instruments or endoscopes.
Please refer to fig. 5, which schematically illustrates a process of establishing a mapping relationship between a robot coordinate system and a world coordinate system according to an embodiment of the present invention. As shown in fig. 5, in order to ensure the accuracy of the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0), the controller 700 is further configured to verify the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) transmitted by the positioning apparatus 400, based on the initial position information of the stationary point of each robot arm 120 in the world coordinate system (X0, Y0, Z0) (i.e., the initial position information of each opening 600) and the initial position information of each stationary point in the robot coordinate system (X1, Y1, Z1).
Specifically, before performing an operation, the positioning device 400 may acquire position information of a plurality of points on the base 110 and a plurality of points on the surgical assistant device 200 in the world coordinate system (X0, Y0, Z0), and the controller 700 may acquire a mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) according to the acquired position information of the plurality of points on the base 110 in the world coordinate system (X0, Y0, Z0), and may acquire a mapping relationship between the coordinate system (X2, Y2, Z2) of the surgical assistant device 200 and the world coordinate system (X0, Y0, Z0) according to the acquired position information of the plurality of points on the surgical assistant device 200 in the world coordinate system (X0, Y0, Z0), so that the coordinate system may be unified, that is, and the preset surgical scene may be established. After the initial position of the opening 600 is determined, the initial position of the stationary point is determined, and if the opening 600 is formed by punching, the initial position of the stationary point is determined after the punching is completed. Referring to fig. 6, a schematic diagram of a positioning device for measuring a position of an opening according to an embodiment of the invention is schematically shown. As shown in fig. 6, the initial position information of each opening 600 in the world coordinate system (X0, Y0, Z0), that is, the initial position information of each stationary point, can be recognized by the positioning device 400, the initial position information of each joint of each robot arm 120 can be acquired by the position sensor attached to each joint of each robot arm 120, and the initial position information of each stationary point in the robot coordinate system (X1, Y1, Z1) can be acquired by combining the positive kinematic model with the initial position information of each joint of each robot arm 120, whereby the accuracy of the mapping between the world coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be further ensured by re-establishing and verifying the mapping between the world coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) by the initial position information of the stationary point in the world coordinate system (X0, Y0, Z0) and the initial position information of the stationary point in the robot coordinate system (X1, Y1, Z1).
With continued reference to fig. 7, a schematic diagram of the robotic arm in real-time following the adjustment of the surgical assistant according to one embodiment of the present invention is schematically shown. As shown in fig. 7, the controller 700 is specifically configured to obtain target position information of each joint of each robot arm 120 according to the target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), and adjust the position of each joint of each robot arm 120 according to the target position information of each joint of each robot arm 120, so as to adjust the position of each robot arm 120. Specifically, the controller 700 may obtain the target position information of each joint of each mechanical arm 120 by using an inverse kinematics solution or other inverse solution method according to the target position information of each motionless point in the robot coordinate system (X1, Y1, Z1), and then adjust the position of each joint of each mechanical arm 120 according to the target position information of each joint of each mechanical arm 120, so as to realize that the mechanical arm 120 adjusts in real time along with the surgical assistant device 200 without withdrawing an instrument or an endoscope. In addition, according to the present invention, the target position information of each joint of each robot arm 120 is obtained according to the target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), and then the position of each joint of each robot arm 120 is adjusted according to the target position information of each joint of each robot arm 120, so that the calculation amount can be effectively reduced, and the position of each joint of each robot arm 120 can be adjusted to each target position more quickly, thereby better realizing the real-time adjustment of the robot arm 120 following the surgical assistant device 200.
Further, the controller 700 is specifically configured to obtain a motion trajectory of each joint of each robot arm 120 according to the target position information of each joint of each robot arm 120 and the current position information of each joint of each robot arm 120, and adjust the position of each joint of each robot arm 120 according to the motion trajectory of each joint of each robot arm 120. Specifically, the current position information of each joint of each mechanical arm 120 may be obtained by a position sensor (e.g., an encoder) mounted on each joint of each mechanical arm 120, and the controller 700 may obtain the motion trajectory of each joint of each mechanical arm 120 based on the shortest time, compliance, or other principles according to the target position information and the current position information of each joint of each mechanical arm 120, so as to adjust the position of each joint of each mechanical arm 120 according to the obtained motion trajectory of each joint of each mechanical arm 120, so as to realize that the mechanical arm 120 adjusts in real time along with the surgical assistant device 200 without withdrawing an instrument or an endoscope. Therefore, according to the present invention, the motion trajectory of each joint of each mechanical arm 120 is planned according to the target position information and the current position information of each joint of each mechanical arm 120, and then the position of each joint of each mechanical arm 120 is adjusted according to the planned motion trajectory, so that the position of each joint of each mechanical arm 120 can be adjusted to each target position more quickly, and the real-time performance of the adjustment of the mechanical arm 120 following the adjustment of the surgical assistant device 200 is further improved.
Preferably, please refer to fig. 8, which schematically illustrates a flow chart for acquiring a motion trajectory of each joint according to an embodiment of the present invention. As shown in fig. 8, the controller 700 is specifically configured to obtain the motion trajectory of each joint of each robot arm 120 by using an interpolation algorithm according to the target position information of each joint of each robot arm 120 and the current position information of each joint of each robot arm 120. Because the sampling frequency of the target position information of the stationary point is less than the control frequency of the joint position control of the mechanical arm 120, the motion trail of the joint is obtained by adopting an interpolation algorithm, the motion stability of the joint can be improved, and the stability of the mechanical arm 120 in the adjustment process along with the adjustment of the surgical assistant device 200 is further ensured.
It should be noted that, as will be understood by those skilled in the art, the interpolation algorithm employed in the present invention includes, but is not limited to, a linear interpolation algorithm, a polynomial interpolation algorithm, a trigonometric function interpolation algorithm, and an exponential function interpolation algorithm. For how to obtain the motion trajectory of each joint by adopting interpolation algorithms such as linear interpolation, polynomial interpolation, trigonometric function interpolation, exponential function interpolation and the like, reference may be made to the prior art, and detailed description thereof is omitted in the present invention.
Further, as shown in fig. 8, the controller 700 is further configured to perform a shake suppression process on the acquired motion trajectory of each joint of each robot arm 120, and output a motion command of each joint according to the motion trajectory of each joint of each robot arm 120 after the shake suppression process, so as to adjust the position of each joint of each robot arm 120. Therefore, the present invention can smooth the motion trajectory of each joint by performing the jitter suppression processing on the obtained motion trajectory of each joint of each robot arm 120, and can further improve the stability of the robot arm 120 in the process of adjusting along with the surgical assistant device 200.
Specifically, the present invention may perform jitter suppression processing on the acquired motion trajectories of the joints by using a mean filtering algorithm, a difference threshold filtering algorithm, or other curve smoothing algorithms. As to how to perform filtering processing (i.e., jitter suppression processing) on the motion trajectory of each acquired joint by using curve smoothing algorithms such as mean filtering, difference threshold filtering, and the like, reference may be made to the prior art, which is not described in detail herein.
Preferably, please refer to fig. 9, which schematically illustrates a flow chart of the robotic arm adjusting along with the surgical assistant according to an embodiment of the present invention. As shown in fig. 9, the controller 700 is further configured to obtain a safe adjustable range of the surgical assistant 200, and determine whether the adjustment movement of the surgical assistant 200 is safe according to the safe adjustable range. Therefore, by acquiring the safe adjustable range of the surgical assistant device 200 and determining whether the adjustment movement of the surgical assistant device 200 is safe according to the safe adjustable range, the adjustment movement of the surgical assistant device 200 can be performed within the safe adjustable range, and the surgical object is effectively prevented from being injured due to the fact that the adjustment movement of the surgical assistant device 200 exceeds the safe adjustable range. Further, if the controller 700 determines that the adjustment position of the surgical assistance device 200 is close to the boundary of the safe adjustable range, the surgical robot 100 system may be instructed in advance to send an alarm message and/or lock the surgical assistance device 200, so as to further prevent the surgical object from being injured due to the adjustment movement of the surgical assistance device 200 exceeding the safe adjustable range, and improve the safety of the mechanical arm 120 in adjustment along with the adjustment of the surgical assistance device 200.
Specifically, please refer to fig. 9 and fig. 10, wherein fig. 10 schematically shows a flow chart for acquiring a safety adjustable range of the surgical assistance device according to an embodiment of the present invention. As shown in fig. 9 and 10, the controller 700 is further configured to acquire a safe region of the surgical object, and acquire a safe adjustable range of the surgical assistant 200 according to the acquired safe region of the surgical object, an adjustable range of the robot arm 120, and an adjustable range of the surgical assistant 200. The safety zone of the surgical object can be obtained by identifying the surgical object zone, specifically, the surgical object zone can be scanned by the positioning device 400 to obtain the three-dimensional geometric information of the surgical object zone, and the safety zone of the surgical object can be obtained according to the obtained three-dimensional geometric information of the surgical object zone.
Preferably, the controller 700 is further configured to instruct the surgical robot 100 system to send an alarm message when it is determined that the adjustment speed of the surgical assistance device 200 is too fast. Therefore, according to the invention, when the adjustment speed of the surgical assistant device 200 is too high, the alarm information is sent, so that the safety of the mechanical arm 120 in adjustment along with the adjustment of the surgical assistant device 200 can be further improved. Specifically, for the embodiment of automatically adjusting the surgical assistant 200, the controller 700 may obtain the adjustment speed of the surgical assistant 200 according to the rotation speed of the electrical component mounted on the surgical assistant 200; for the embodiment of adjusting the surgical assistant apparatus manually or with manual assistance, the controller may obtain an adjustment speed of the surgical assistant apparatus according to the position information of the surgical assistant apparatus acquired by the positioning device, so that corresponding indication information, such as an alarm or activation of different indicator lights, may be sent when the adjustment speed of the surgical assistant apparatus 200 exceeds a predetermined threshold.
Preferably, as shown in fig. 9, the controller 700 is further configured to instruct the surgical robot 100 system to send a warning message and/or lock the robot arm 120 when it is determined that the robot arm 120 is about to approach the boundary of the safe adjustable range of the surgical assistance device 200. Therefore, according to the invention, when the robot arm 120 is determined to be close to the safety boundary, the alarm information is sent out, so that the safety of the robot arm 120 which is adjusted along with the adjustment of the operation assisting device 200 can be further improved.
Preferably, as shown in fig. 1, the adjusting system further includes a display device 500, and the display device 500 is used for displaying the adjusting state of the surgical assistant device 200 and/or each of the mechanical arms 120. Therefore, by displaying the adjustment state of the surgical assistant device 200 and/or each of the mechanical arms 120, the adjustment state of the surgical assistant device 200 and/or each of the mechanical arms 120 can be monitored and tracked in real time, so that medical staff can observe the adjustment state of the surgical assistant device 200 and/or each of the mechanical arms 120 in real time, and further can stop the mechanical arms 120 in time when the adjustment movement of the mechanical arms 120 following the surgical assistant device 200 is delayed or is close to the safe adjustable range, and/or stop the adjustment movement of the surgical assistant device 200 in time when the adjustment movement of the surgical assistant device 200 is close to the safe adjustable range, so as to further improve the safety of the adjustment of the mechanical arms 120 following the surgical assistant device 200. Specifically, states and alarm information in the tracking process can be displayed and prompted through a human-computer interface, light, sound effect and the like.
Corresponding to the surgical robot system, the present invention further provides a readable storage medium, in which a computer program is stored, please refer to fig. 11, which schematically shows a flowchart of an adjusting method of the surgical robot system according to an embodiment of the present invention. As shown in fig. 11, the computer program, when executed by a processor, may implement the steps of:
s1, acquiring initial pose information of an operation auxiliary device in a preset operation scene and initial position information of a fixed point of each mechanical arm.
And S2, acquiring current pose information of the operation auxiliary device.
And S3, judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device.
If yes, the following steps S4 and S5 are executed:
and S4, acquiring target position information of each immobile point according to the current pose information of the operation auxiliary device, the initial pose information of the operation auxiliary device and the initial position information of each immobile point.
And S5, correspondingly adjusting the pose of each mechanical arm according to the target position information of each immobile point.
Therefore, when the computer program stored on the storage medium provided by the invention is executed by the processor, the pose of the operation auxiliary device can be adjusted in real time through the current pose information of the operation auxiliary device acquired in real time without withdrawing instruments and/or endoscopes in the operation process, so that the pose of each mechanical arm can be adjusted correspondingly along with the pose adjustment of the operation auxiliary device in real time, the operation can be completed more efficiently and safely, the requirements on the preoperative punching position and the preoperative positioning are reduced, and the preoperative preparation time is shortened.
In some embodiments, the obtaining target position information of each immobile point according to the current pose information of the surgical assistance device, the initial pose information of the surgical assistance device, and the initial position information of each immobile point includes:
acquiring a preset position mapping relation between the operation auxiliary device and each immobile point according to the initial pose information of the operation auxiliary device and the initial position information of each immobile point;
and acquiring target position information of each immobile point according to the current pose information of the surgical auxiliary device and a preset position mapping relation between the surgical auxiliary device and each immobile point.
In some embodiments, the correspondingly adjusting the pose of each mechanical arm according to the target position information of each stationary point includes:
acquiring target position information of each joint of each mechanical arm according to the target position information of each fixed point;
acquiring the motion trail of each joint of each mechanical arm according to the target position information of each joint of each mechanical arm and the current position information of each joint of each mechanical arm;
and adjusting the position of each joint of each mechanical arm according to the motion trail of each joint of each mechanical arm.
In some embodiments, the acquiring a motion trajectory of each joint of each robot arm according to the target position information of each joint of each robot arm and the current position information of each joint of each robot arm includes:
and acquiring the motion trail of each joint of each mechanical arm by adopting an interpolation algorithm according to the target position information of each joint of each mechanical arm and the current position information of each joint of each mechanical arm.
In some embodiments, the adjusting the position of each joint of each robot arm according to the motion track of each joint of each robot arm includes:
performing shake suppression processing on the acquired motion trajectory of each joint of each mechanical arm;
and adjusting the position of each joint of each mechanical arm according to the motion trail of each joint of each mechanical arm after the shake suppression processing.
The readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this context, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In summary, compared with the prior art, the surgical robot system, the adjustment system and the storage medium provided by the invention have the following advantages: according to the invention, initial pose information of the surgery auxiliary device under a preset surgery scene and initial position information of the immobile point of each mechanical arm are obtained; acquiring current pose information of the operation auxiliary device; judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device; if the position information of the mechanical arms is the current position information of the surgical auxiliary device, the target position information of each motionless point is obtained according to the current position information of the surgical auxiliary device, and the position and attitude of each mechanical arm are correspondingly adjusted according to the target position information of each motionless point, so that when the position and attitude of the surgical auxiliary device are adjusted according to the actual surgical needs in the surgical process, the position and attitude of each mechanical arm can be adjusted in real time through the current position and attitude information of the surgical auxiliary device obtained in real time under the condition that instruments and/or endoscopes do not need to be withdrawn, the corresponding adjustment of each mechanical arm along with the position and attitude adjustment of the surgical auxiliary device is realized in real time, the surgery can be completed more efficiently and more safely, the requirements on the pre-operation punching position and the positioning are reduced, and the pre-operation preparation time is shortened.
It should be noted that the apparatuses and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, a program, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments herein may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention also include such modifications and variations as come within the scope of the invention and their equivalents.
Claims (14)
1. A surgical robotic system comprising a control end, an operation end and a controller, wherein the operation end comprises at least one mechanical arm, the control end and the operation end have a master-slave control relationship and are used for controlling the mechanical arm to operate, and the controller is used for:
acquiring initial pose information of an operation auxiliary device in a preset operation scene and initial position information of a fixed point of the mechanical arm;
acquiring current pose information of the operation auxiliary device;
judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device; if so, acquiring target position information of the motionless point according to the current position information of the operation auxiliary device, the initial position information of the operation auxiliary device and the initial position information of the motionless point, and correspondingly adjusting the position of the mechanical arm according to the target position information of the motionless point;
the operation auxiliary device is a device capable of changing the pose of an operation object in an operation scene.
2. The surgical robotic system as claimed in claim 1, wherein the controller is configured to obtain a preset position mapping relationship between the surgical assistant and the stationary point according to the initial pose information of the surgical assistant and the initial position information of the stationary point, and obtain the target position information of the stationary point according to the current pose information of the surgical assistant and the preset position mapping relationship between the surgical assistant and the stationary point.
3. A surgical robotic system as claimed in claim 1, wherein the surgical assisting device is a support device for supporting a surgical object.
4. The surgical robot system according to claim 1, wherein the controller is configured to acquire target position information of each joint of the robot arm based on the target position information of the stationary point, acquire a movement locus of each joint of the robot arm based on the target position information of each joint of the robot arm and current position information of each joint of the robot arm, and adjust the position of each joint of the robot arm based on the movement locus of each joint of the robot arm.
5. The surgical robot system according to claim 4, wherein the controller is configured to obtain the motion trajectory of each joint of each of the mechanical arms by using an interpolation algorithm according to the target position information of each joint of the mechanical arm and the current position information of each joint of the mechanical arm.
6. The surgical robot system according to claim 4, wherein the controller is configured to perform a shake suppression process on the acquired motion trajectory of each joint of the robot arm, and adjust the position of each joint of the robot arm according to the motion trajectory of each joint of the robot arm after the shake suppression process.
7. The surgical robot system according to claim 1, wherein the controller is configured to obtain a mapping relationship between a robot coordinate system and a world coordinate system, and obtain the target position information of the fixed point in the robot coordinate system according to the mapping relationship between the robot coordinate system and the world coordinate system and the target position information of the fixed point in the world coordinate system.
8. A surgical robotic system as claimed in claim 1, comprising display means for displaying the adjustment status of each robotic arm.
9. An adjustment system comprising the surgical robotic system of any one of claims 1-8 and a positioning device for sending pose information of the surgical assistant under a surgical scene to the controller.
10. The adjustment system according to claim 9, wherein the positioning device is configured to send a mapping relationship between a robot coordinate system and a world coordinate system to the controller, and the controller is configured to verify the mapping relationship between the robot coordinate system and the world coordinate system sent by the positioning device according to initial position information of the motionless point in the world coordinate system and initial position information of the motionless point in the robot coordinate system.
11. The adjustment system of claim 9, comprising a surgical assistant, the controller for controlling the surgical assistant to perform the adjustment movement.
12. The adjustment system of claim 11, wherein the controller is configured to obtain a safe adjustable range of the surgical assistance device, and determine whether an adjustment movement of the surgical assistance device is safe according to the safe adjustable range.
13. The adjustment system of claim 12, wherein the controller is configured to obtain a safe area of the surgical object and obtain a safe adjustable range of the surgical assistance device according to the obtained safe area of the surgical object, the adjustable range of the robotic arm, and the adjustable range of the surgical assistance device.
14. A readable storage medium having stored therein a computer program which, when executed by a processor, implements the functions provided by a controller in a surgical robotic system according to any one of claims 1-8.
Priority Applications (2)
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| CN202110507239.8A CN115317130A (en) | 2021-05-10 | 2021-05-10 | Surgical robot system, adjustment system, and storage medium |
| PCT/CN2022/089510 WO2022237538A1 (en) | 2021-05-10 | 2022-04-27 | Surgical robot system, adjustment system, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110507239.8A CN115317130A (en) | 2021-05-10 | 2021-05-10 | Surgical robot system, adjustment system, and storage medium |
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| CN115969524A (en) * | 2022-12-27 | 2023-04-18 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Operation control system, control method and electronic equipment |
| CN116999177A (en) * | 2023-10-07 | 2023-11-07 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
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| CN116019564B (en) * | 2023-03-28 | 2023-07-28 | 北京壹点灵动科技有限公司 | Knee joint operation robot and control method |
| CN117243699B (en) * | 2023-11-14 | 2024-03-15 | 杭州三坛医疗科技有限公司 | Displacement detection method and device |
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| US20130085510A1 (en) * | 2011-09-30 | 2013-04-04 | Ethicon Endo-Surgery, Inc. | Robot-mounted surgical tables |
| JP6619748B2 (en) * | 2014-03-17 | 2019-12-11 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Method and apparatus for telesurgical table alignment |
| JP6682512B2 (en) * | 2014-10-27 | 2020-04-15 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Integrated operating table system and method |
| KR102617042B1 (en) * | 2014-10-27 | 2023-12-27 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | System and method for registering to a surgical table |
| KR20240007964A (en) * | 2014-10-27 | 2024-01-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | System and method for integrated surgical table motion |
| EP3212105A4 (en) * | 2014-10-27 | 2018-07-11 | Intuitive Surgical Operations, Inc. | System and method for monitoring control points during reactive motion |
| CN113334393B (en) * | 2021-08-06 | 2021-11-16 | 成都博恩思医学机器人有限公司 | Mechanical arm control method and system, robot and storage medium |
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| CN114074330B (en) * | 2022-01-19 | 2022-05-13 | 成都博恩思医学机器人有限公司 | Robot control method, system, robot and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115969524A (en) * | 2022-12-27 | 2023-04-18 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Operation control system, control method and electronic equipment |
| CN116999177A (en) * | 2023-10-07 | 2023-11-07 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
| CN116999177B (en) * | 2023-10-07 | 2024-01-12 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
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