CN115429432A

CN115429432A - Readable storage medium, surgical robot system and adjustment system

Info

Publication number: CN115429432A
Application number: CN202110614235.XA
Authority: CN
Inventors: 王家寅; 李自汉; 王超; 蒋友坤; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2022-12-06

Abstract

The invention provides a readable storage medium, a surgical robot system and an adjustment system, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the computer program realizes the following steps: receiving an adjusting instruction of a user; acquiring the target pose of the mechanical arm or the target pose of the supporting device; according to the target pose of the mechanical arm, controlling the mechanical arm to perform adjustment movement and controlling the supporting device to perform corresponding movement along with the mechanical arm; or according to the target pose of the supporting device, controlling the supporting device to perform adjustment movement and controlling the mechanical arm to perform corresponding movement along with the supporting device. The invention can realize the adjustment of the posture of the patient and the posture of the mechanical arm under the condition of not withdrawing the instrument, thereby completing the operation more efficiently and safely and reducing the requirements on the preoperative punching position and the equipment positioning.

Description

Readable storage medium, surgical robot system and adjustment system

Technical Field

The invention relates to the technical field of robots, in particular to a readable storage medium, a surgical robot system and an adjustment system.

Background

At present, industries are in a great trend of electronic and intelligent, especially in an operating room, a large number of semi-automatic and fully-automatic electromechanical devices are gradually applied to various operating scenes, for example, traditional handheld surgical instruments are gradually replaced by surgical robots.

The design concept of the surgical robot is to adopt a minimally invasive mode, accurately implement complex surgical operations, break through the limitation of human eyes, and adopt a stereo imaging technology to more clearly present internal organs to an operator. In the original area that the hand can not stretch into, the robot hand can accomplish 360 degrees rotations, move, swing, centre gripping to avoid shaking, receive the favor of numerous doctors and patients, as a high-end medical instrument now, has widely applied to various clinical operations. However, in the operation process, when the pre-operation punching position is not ideal, collision is easy to occur between adjacent mechanical arms, the operation process is greatly influenced, or due to the influence of the body position of a patient, the position of a focus in the operation process is shielded by other tissues of the patient, the operation cannot be continuously completed, or a new focus is found in the operation, and corresponding operation needs to be performed at the new position of the focus. Generally speaking, a user needs to interrupt a surgical procedure and remove a surgical instrument, and a mechanical arm on the surgical robot must be separated from the cannula through a hole punching position of a patient body, so that the patient and the surgical robot are completely separated, and then the body position of the patient is adjusted, and the surgical operation can be continued after a preoperative preparation process of the surgical robot is continued. The process is time-consuming, the operation process is very complicated, and the requirement on the proficiency of medical workers is high.

Disclosure of Invention

The invention aims to provide a readable storage medium, a surgical robot system and an adjusting system, which can achieve the purpose of automatically adjusting the body position of a patient and the pose of a mechanical arm under the condition that an instrument is not withdrawn.

In order to achieve the above object, the present invention provides a readable storage medium applied to a surgical robot system, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the computer program implements the following steps:

receiving an adjusting instruction of a user;

acquiring the target pose of the mechanical arm or the target pose of the supporting device;

according to the target pose of the mechanical arm, controlling the mechanical arm to perform adjustment movement and controlling the supporting device to perform corresponding movement along with the mechanical arm; or

And controlling the supporting device to perform adjustment movement and controlling the mechanical arm to follow the supporting device to perform corresponding movement according to the target pose of the supporting device.

Optionally, the acquiring a target pose of the mechanical arm or a target pose of the support device includes:

acquiring a target pose of the mechanical arm or a target pose of a supporting device according to a corresponding relation between a pre-stored target pose and an operation type; or

And acquiring the target pose of the mechanical arm or the target pose of the supporting device according to a preset target function.

Optionally, the obtaining the target pose of the mechanical arm or the target pose of the support device according to a preset objective function includes:

one of the mechanical arms is used as a target mechanical arm;

acquiring the current position of the stationary point of the target mechanical arm;

creating a safety space according to the current position of the immobile point of the target mechanical arm;

traversing each point of the safety space, and solving function values of preset objective functions at different positions;

taking the position of the functional value meeting the preset condition as the target position of the immobile point of the target mechanical arm;

and acquiring the target pose of the mechanical arm or the target pose of the supporting device according to the target position of the stationary point of the target mechanical arm.

Optionally, the preset objective function is:

w(q)＝α·w ₁ (q)+β·w ₂ (q)

wherein alpha is w ₁ (q) weight, β is w ₂ (q) and α + β =1,N is the number of joints of the target robot arm, q _i To traverse the safe space, the position of the ith joint of the target robotic arm,

is the average position of the ith joint of the target robot arm, q _imax Is the maximum position of the ith joint of the target mechanical arm, q _imin Is the minimum position of the ith joint of the target mechanical arm, n is the number of the mechanical arms of the robot, h _i In order to traverse the safety space, the distance between two adjacent mechanical arms,

the average value of the distances between all adjacent mechanical arms is obtained;

the step of taking the position where the function value meets the preset condition as the target position of the immobile point of the target mechanical arm includes:

and taking the position with the maximum function value as the target position of the fixed point of the target mechanical arm.

Optionally, the controlling the mechanical arm to perform adjustment movement and controlling the supporting device to perform corresponding movement along with the mechanical arm according to the target pose of the mechanical arm includes:

acquiring the current pose of the mechanical arm;

planning a motion track of the mechanical arm according to the target pose and the current pose of the mechanical arm;

controlling the mechanical arm to perform adjustment movement according to the planned movement track of the mechanical arm, and controlling the supporting device to perform corresponding movement along with the movement track of the mechanical arm;

the controlling the supporting device to perform adjustment movement and the controlling the mechanical arm to follow the supporting device to perform corresponding movement according to the target pose of the supporting device comprises:

acquiring the current pose of the supporting device;

planning a motion track of the supporting device according to the target pose and the current pose of the supporting device;

and controlling the supporting device to perform adjustment movement according to the movement track of the supporting device according to the planned movement track of the supporting device, and controlling the mechanical arm to perform corresponding movement along with the movement track of the supporting device.

Optionally, the planning the motion trajectory of the mechanical arm according to the target pose and the current pose of the mechanical arm includes:

acquiring the motion trail of the mechanical arm by adopting an interpolation algorithm according to the target pose and the current pose of the mechanical arm;

the planning of the motion trail of the supporting device according to the target pose and the current pose of the supporting device comprises the following steps:

and acquiring the motion trail of the supporting device by adopting an interpolation algorithm according to the target pose and the current pose of the supporting device.

planning the motion trail of each joint of the mechanical arm according to the target position and the current position of each joint of the mechanical arm;

and planning the motion trail of each joint of the supporting device according to the target position and the current position of each joint of the supporting device.

Optionally, the controlling the supporting device to follow the mechanical arm to perform corresponding movement includes:

acquiring real-time position information of an immobile point of the mechanical arm in a robot coordinate system;

acquiring a target mapping relation between a support device coordinate system and a world coordinate system in real time according to real-time position information of the immobile point in a robot coordinate system, the mapping relation between the immobile point and the support device coordinate system and the mapping relation between the robot coordinate system and the world coordinate system;

controlling the supporting device to correspondingly move along with the mechanical arm according to a target mapping relation between the supporting device coordinate system and the world coordinate system acquired in real time;

the control the mechanical arm follows the supporting device to perform corresponding movement, and the control method comprises the following steps:

acquiring a real-time mapping relation between a support device coordinate system and a world coordinate system;

acquiring target position information of the immobile point of the mechanical arm under the robot coordinate system in real time according to the real-time mapping relation between the support device coordinate system and the world coordinate system, the mapping relation between the immobile point of the mechanical arm and the support device coordinate system and the mapping relation between the robot coordinate system and the world coordinate system;

and controlling the mechanical arm to correspondingly move along with the supporting device according to the target position information of the immobile point of the mechanical arm in the robot coordinate system acquired in real time.

Optionally, when executed by the processor, the computer program implements the following steps:

and judging whether the current state of the surgical robot system meets the adjustment requirement.

and monitoring the real-time adjustment movement process of the mechanical arm and the supporting device to judge whether abnormal conditions occur.

and displaying the real-time adjustment movement process of the mechanical arm and the supporting device.

To achieve the above object, the present invention further provides a surgical robotic system, comprising a robot and a controller, the robot comprising at least one mechanical arm, the controller being in communication with the robot, the controller comprising a processor and a readable storage medium as described above.

Optionally, the surgical robot system includes a display device in communication connection with the controller, and the display device is configured to display a real-time adjustment movement process of the mechanical arm and the support device.

In order to achieve the above object, the present invention further provides an adjusting system, which includes the robot system and the positioning device, where the positioning device is configured to obtain a mapping relationship between a robot coordinate system and a world coordinate system and a mapping relationship between a support device coordinate system and the world coordinate system.

Optionally, the adjusting system includes a supporting device, the supporting device is in communication connection with the controller, and the controller is configured to control the supporting device to perform an adjusting motion.

Compared with the prior art, the readable storage medium, the surgical robot system and the adjustment system provided by the invention have the following advantages: according to the invention, the target pose of the mechanical arm of the robot is firstly obtained, then the mechanical arm is adjusted to adjust the pose of the mechanical arm to the target pose, and in the adjusting process of the mechanical arm, the supporting device is controlled to correspondingly move along with the mechanical arm; or firstly acquiring the target pose of the supporting device, then adjusting the supporting device to adjust the pose of the supporting device to the target pose, and controlling the mechanical arm of the robot to correspondingly move along with the supporting device in the adjusting process of the supporting device. Therefore, the invention can realize the adjustment of the body position (namely the pose of the supporting device) of the patient and the pose of the mechanical arm under the condition of not withdrawing the instrument, thereby completing the operation more efficiently and safely, reducing the requirements on the preoperative punching position and the equipment positioning, effectively reducing the preoperative preparation time and effectively avoiding the probability of collision of the mechanical arm.

Drawings

FIG. 1 is a schematic diagram of steps implemented by a processor when a computer program stored on a readable storage medium according to an embodiment of the present invention is executed;

FIG. 2 is a schematic diagram of a process for obtaining pose of an object according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of resolving and acquiring a target pose according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of the adjustment movement of the robotic arm following the support device in accordance with one embodiment of the present invention;

FIG. 5 is a schematic flow chart illustrating the adjustment of the supporting device following the robot according to one embodiment of the present invention;

FIG. 6 is a schematic flow chart of a motion trajectory planning process using trapezoidal velocity curve interpolation according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a trapezoidal velocity profile planning motion trajectory in accordance with an embodiment of the present invention;

FIG. 8 is a schematic diagram of a triangular velocity profile planning motion profile in accordance with an embodiment of the present invention;

FIG. 9 is a velocity profile of a polynomial interpolation plan motion trajectory in accordance with an embodiment of the present invention;

FIG. 10 is an acceleration plot of a polynomial interpolation plan motion trajectory in accordance with an embodiment of the present invention;

FIG. 11 is a general flow diagram illustrating the automated adjustment of the robot and the support device in accordance with one embodiment of the present invention;

FIG. 12 is a schematic view of a monitoring process for adjusting the status according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a frame structure of an adjustment system according to an embodiment of the present invention;

FIG. 14 is a block diagram of a processor according to an embodiment of the present invention;

FIG. 15 is a schematic view of a measurement principle of a positioning device according to an embodiment of the present invention;

fig. 16 is a display diagram of a display device according to an embodiment of the invention.

Wherein the reference numbers are as follows:

support means-100; support device base-110; a support-120; robot-200; robot base-210; a robotic arm-220; an instrument-230; a controller-300; a target pose acquisition module-310; a control module-320; a memory cell-311; a resolving unit-312; a trajectory planning unit-321; an adjustment unit-322; a state judgment module-330; a monitoring module-340; -a positioning device-400; a first label-130; a second label-240; a display device-500; physician control end-600.

Detailed Description

The readable storage medium, the surgical robotic system, and the adjustment system of the present invention are described in further detail below with reference to fig. 1-16 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings and described in the specification are for illustrative purposes only and are not intended to limit the scope of the present invention, which is to be determined by those skilled in the art.

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.

The invention mainly aims to provide a readable storage medium, a surgical robot system and an adjusting system, which can achieve the purpose of automatically adjusting the body position of a patient and the pose of a mechanical arm under the condition that an instrument is not withdrawn. It should be noted that, the robot coordinate system (X2, Y2, Z2) referred to herein is a coordinate system created with any point on the robot base as an origin, the support device coordinate system (X1, Y1, Z1) is a coordinate system created with any point on the support body of the support device as an origin, the robot arm pose is the pose of the robot arm under the robot coordinate system (X2, Y2, Z2), and the support device pose is the pose of the support device under the world coordinate system (X0, Y0, Z0); during the automatic adjustment, the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) is unchanged, and the mapping relationship between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) is changed as the pose of the support device is changed.

In order to achieve the above object, the present invention provides a readable storage medium, which is applied to a surgical robot system, the surgical robot system including a robot including at least one mechanical arm, and a computer program is stored in the readable storage medium. Referring to fig. 1, a schematic diagram of steps implemented when a computer program stored on a readable storage medium is executed by a processor according to an embodiment of the present invention is shown. As shown in fig. 1, the computer program, when executed by a processor, performs the steps of:

s1, receiving an adjustment instruction of a user;

s2, acquiring a target pose of the mechanical arm or a target pose of the supporting device;

s3, controlling the mechanical arm to move and controlling the supporting device to correspondingly move along with the mechanical arm according to the target pose of the mechanical arm; or according to the target pose of the supporting device, controlling the supporting device to perform adjustment movement and controlling the mechanical arm to perform corresponding movement along with the supporting device.

Therefore, the pose of the mechanical arm of the robot is adjusted to the target pose by acquiring the target pose of the mechanical arm and then adjusting the mechanical arm, and the support device is controlled to move correspondingly along with the mechanical arm in the adjusting process of the mechanical arm; or firstly acquiring the target pose of the supporting device, then adjusting the supporting device to adjust the pose of the supporting device to the target pose, and controlling the mechanical arm of the robot to correspondingly move along with the supporting device in the adjusting process of the supporting device. Therefore, the invention can realize the adjustment of the body position (namely the pose of the supporting device) of the patient and the pose of the mechanical arm under the condition of not withdrawing the instrument, thereby completing the operation more efficiently and safely, reducing the requirements on the preoperative punching position and the equipment positioning, effectively reducing the preoperative preparation time and effectively avoiding the probability of collision of the mechanical arm.

Further, the acquiring the target pose of the robot arm or the target pose of the support device includes:

acquiring a target pose of the mechanical arm or a target pose of the supporting device according to a corresponding relation between a pre-stored target pose and an operation type; or

Referring to fig. 2, a schematic flow chart of obtaining the pose of the target according to an embodiment of the present invention is schematically shown. As shown in fig. 2, a user (e.g., a medical staff) may select a corresponding operation type through an input unit (e.g., a physical key or a virtual key) to enter a recovery mode, and at this time, a target pose of the robot arm or a target pose of the support device may be selected according to a pre-stored correspondence between the target pose and the operation type. The user (for example, a medical worker) can also enter a setting mode through the selection of the physical key or the virtual key, and at the moment, the target pose of the mechanical arm or the target pose of the supporting device can be obtained according to a preset target function. It should be noted that the target pose of the robot arm referred to in the present application refers to a pose (i.e., the end position and the pose of the robot arm) to which the robot arm needs to be adjusted, and the target pose of the supporting device referred to in the present application refers to a pose (i.e., the three-dimensional position and the rotation angle around each direction of the supporting device) to which the supporting device needs to be adjusted.

Specifically, the target pose of the mechanical arm or the target pose of the support device may be acquired according to a preset target function through the following steps:

one of the mechanical arms is used as a target mechanical arm;

creating a safety space according to the current position of the stationary point of the target mechanical arm;

Referring to fig. 3, a schematic flow chart of resolving the pose of the target according to an embodiment of the present invention is schematically shown. As shown in fig. 3, in an actual operation process, any one of the manipulators may be selected as a target manipulator, for example, a manipulator with an endoscope is selected as a target manipulator, a safety space (ensuring that when the manipulator moves in the safety space, the organ tissue of a patient is not damaged) is created according to a current position of an immobile point of the target manipulator (coordinates in a robot coordinate system (X2, Y2, Z2)), which may be a solid space with a smooth boundary, such as a spherical space, an ellipsoid space, a conical space, and the like, and specifically, taking the spherical space as an example, a safety space may be created with the current position of the immobile point as a spherical center and a preset radius (e.g., 2 cm) as a radius, and then each point of the safety space (including each point on the boundary of the safety space and each point in the safety space) is traversed with a fixed step length), a function value of a preset target function at different positions may be solved, and a position satisfying a preset condition may be used as a target position of the immobile point, where the target position of the immobile point refers to a target coordinate system of the robot (Z2, i.e., a target pose of the robot at the immobile point is 2. By performing inverse solution on the target position of the stationary point, for example, an inverse kinematics method can be used to obtain the target position of each joint of the target mechanical arm. Since the fixed point of the other robot arm and the fixed point of the target robot arm have a predetermined mapping relationship, the target position of the fixed point of the other robot arm, that is, the target pose of the other robot arm can be obtained based on the mapping relationship between the fixed point of the other robot arm and the fixed point of the target robot arm and the target position of the fixed point of the target robot arm, and the target position of each joint of the other robot arm can be obtained by performing inverse solution on the target position of the fixed point of the other robot arm.

Similarly, since the fixed point of the target robot arm has a predetermined mapping relation with the support device coordinate system (X1, Y1, Z1), and the robot coordinate system (X2, Y2, Z2) has a predetermined mapping relation with the world coordinate system (X0, Y0, Z0), the target position of the support device in the world coordinate system (X0, Y0, Z0) can be obtained according to the target position of the fixed point of the target robot arm, the mapping relation between the fixed point of the target robot arm and the support device coordinate system (X1, Y1, Z1), and the mapping relation between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), and the target position of each joint of the support device can be obtained by solving the target position of the support device in an inverse manner. Wherein the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) can be measured by a positioning device described below.

Further, the preset objective function is:

w(q)＝α·w ₁ (q)+β·w ₂ (q)

wherein alpha is w ₁ (q) weight, β is w ₂ (q) and α + β =1, N is the number of joints of the target robot arm, q _i To traverse the safe space, the position of the ith joint of the target robotic arm,

is the average position of the ith joint of the target robot arm, q _imax Is the maximum position of the ith joint of the target mechanical arm, q _imin Is the minimum position of the ith joint of the target mechanical arm, n is the number of the mechanical arms of the robot, and h _i In order to traverse the safety space, the distance between two adjacent mechanical arms,

for the spacing between all adjacent armsAnd (4) average value.

Correspondingly, the step of taking the position where the function value meets the preset condition as the target position of the fixed point includes:

and taking the position with the maximum objective function value as the target position of the fixed point.

Specifically, when traversing a certain point in the safety space, the inverse kinematics algorithm is used to obtain the position of each joint of the target manipulator at the position and the corresponding position of the stationary point of the other manipulator at the position, so as to obtain the function value of the target function w (q) at the position. Similarly, when traversing any other point of the safety space, the above method can be adopted to obtain the function value of the objective function w (q) at the corresponding position. And comparing the function values of the target function w (q) at different positions, and taking the position with the maximum function value as the target position of the immobile point of the target mechanical arm.

Specific values of α and β may be set according to specific situations, for example, when α is 1 and β is 0, the objective function is:

for this case, when the function value of the objective function w (q) is maximum, q is _i Approach to

That is, the positions of the joints of the robot arm 220 of the robot are close to the average position, so that the working space range of the robot arm is greatly increased, and the optimal condition of the motion space of the robot arm can be satisfied.

When α is 0 and β is 1, the objective function is:

for this case, when the value of the objective function is maximum, h _i Approach to

Namely, the mechanical arms of the robot are distributed at equal intervals, so that the mechanical arms can be effectively prevented from colliding with each other in the operation process, and the optimal positioning condition of the mechanical arms can be met.

When alpha is 0.5 and beta is 0.5, the optimization of the motion space of the mechanical arm and the optimization of the positioning of the mechanical arm can be balanced, so that the effective motion space of the mechanical arm can be improved, and the probability of collision of the mechanical arm in the operation process can be effectively reduced.

Continuing with reference to fig. 4, a schematic flow chart of the mechanical arm following the adjustment movement of the support device according to an embodiment of the present invention is schematically shown, and as shown in fig. 4, the flow of controlling the mechanical arm to perform the adjustment movement and controlling the support device to follow the mechanical arm to perform the corresponding movement according to the target pose of the mechanical arm includes:

acquiring the current pose of the mechanical arm;

planning the motion trail of the mechanical arm according to the target pose and the current pose of the mechanical arm;

and controlling the mechanical arm to perform adjustment movement according to the planned movement track of the mechanical arm, and controlling the supporting device (such as an operating table) to perform corresponding movement along with the movement track of the mechanical arm.

Please refer to fig. 5, which schematically illustrates a flow chart of the supporting device following the robot arm to perform the adjusting motion according to an embodiment of the present invention. As shown in fig. 5, the controlling the supporting device to perform an adjustment motion and the controlling the mechanical arm to follow the supporting device to perform a corresponding motion according to the target pose of the supporting device includes:

acquiring the current pose of the supporting device;

Further, the planning the motion trajectory of the mechanical arm according to the target pose and the current pose of the mechanical arm includes:

Referring to fig. 6 to 8, fig. 6 is a schematic flow chart illustrating a process of planning a motion trajectory of a robot arm or a support device by interpolating a trapezoidal velocity curve according to an embodiment of the present invention; FIG. 7 is a schematic diagram illustrating a trapezoidal velocity profile programming according to an embodiment of the present invention; fig. 8 is a schematic diagram of a triangular velocity profile plan according to an embodiment of the present invention. As shown in fig. 6 to 8, according to the set maximum speed V _max And the constant acceleration a can obtain the speed rising time t in the trapezoidal speed curve _s Wherein the maximum speed V _max And the constant acceleration a may be set as the case may be. When the planning distance s (distance between the target position and the current position) is smaller than V _max *t _s Then, a triangular velocity curve is used to generate a motion trajectory, where the velocity trajectory is shown in fig. 8, and the position trajectory can be obtained by velocity integration, where:

v＝at，t≤0

v＝a(t-2t ₀ )，t ₀ ≤t≤2t ₀

when the planning distance s is largeIs equal to or greater than V _max *t _s Then, a trapezoidal velocity curve is used to generate a motion trajectory, where the velocity trajectory is shown in fig. 7, and the position trajectory can be obtained by velocity integration, where:

v＝at，t≤t _s

v＝V _max ，t _s ≤t≤t _f -t _s

v＝-a(t-t _f )，t _f -t _s ≤t≤t _f

the following explains the principle of planning a motion trajectory by polynomial interpolation by taking the quintic interpolation as an example.

Setting the position expression at the time t as follows:

q(t)＝a ₅ t ⁵ +a ₄ t ⁴ +a ₃ t ³ +a ₂ t ² +a ₁ t+a ₀

setting an initial time position as q ₀ The position of the termination time is q _f The initial time speed and the end time speed are both 0, and the above conditions are both constraint conditions, that is, the constraint conditions are as follows:

q(0)＝q _s

q(t _f )＝q _f

with the above 6 constraints, a position trajectory can be obtained, wherein:

a ₀ ＝q _s

a ₁ ＝a ₂ ＝0

the velocity trajectory can be obtained by deriving the position trajectory, please refer to fig. 9, which schematically shows a velocity curve diagram of the five-term interpolation planning trajectory according to an embodiment of the present invention. The acceleration trajectory can be obtained by deriving the velocity trajectory, and referring to fig. 10, an acceleration curve diagram of a five-term interpolation planning trajectory according to an embodiment of the present invention is schematically shown.

In an exemplary embodiment, the planning the motion trajectory of the robot arm according to the target pose and the current pose of the robot arm includes:

the planning of the movement track of the supporting device according to the target pose and the current pose of the supporting device comprises the following steps:

Further, the controlling the supporting device to follow the mechanical arm to perform corresponding movement comprises:

and controlling the supporting device to correspondingly move along with the mechanical arm according to a target mapping relation between the supporting device coordinate system and the world coordinate system acquired in real time.

Specifically, in the process that the supporting device moves correspondingly along with the mechanical arm j, the target mapping relation between the supporting device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0)

Can be obtained by the following formula:

wherein,

is the mapping relation between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), ² P _i is the coordinate of the fixed point of the mechanical arm j under the robot coordinate system (X2, Y2, Z2), which is continuously changed along with the adjustment motion of the mechanical arm j, ¹ P _j coordinates of the stationary point of the robot arm j under the support device coordinate system (X1, Y1, Z1), (C1) ¹ P _j ) ⁺ Is composed of ¹ P _j The pseudo-inverse of (c).

Since each joint of the mechanical arm j is provided with a position sensor, in the adjusting motion process of the mechanical arm 220, the coordinates of each joint under the robot coordinate system (X2, Y2, Z2) can be obtained in real time, and the coordinates of the fixed point of the mechanical arm j under the robot coordinate system (X2, Y2, Z2) can be obtained in real time through a kinematic equation ² P _j . Therefore, according to the formula, the method can acquire the data in real timeTarget mapping relationship between support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0)

Further, the target mapping relation between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be obtained in real time

And controlling the supporting device to correspondingly move along with the mechanical arm j. Specifically, the target mapping relationship between the acquired support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be obtained

And acquiring the target position of each joint of the supporting device by adopting an inverse kinematics solution, and controlling the supporting device to move correspondingly along with the mechanical arm j according to the target position of each joint of the supporting device acquired in real time.

acquiring target position information of an immobile point of the mechanical arm under the robot coordinate system in real time according to a real-time mapping relation between the support device coordinate system and the world coordinate system, a mapping relation between the immobile point of the mechanical arm and the support device coordinate system and a mapping relation between the robot coordinate system and the world coordinate system;

Specifically, taking the mechanical arm j as an example, in the process of adjusting and moving the mechanical arm j along the supporting device, the fixed point of the mechanical arm j is under the robot coordinate system (X2, Y2, Z2)Target coordinates of ² P′ _j Can be obtained by the following formula:

wherein,

is a mapping relation between a support device coordinate system (X1, Y1, Z1) and a world coordinate system (X0, Y0, Z0) which is continuously changed along with the adjustment movement of the support device,

is the mapping relation between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), ¹ P _j is the coordinate of the stationary point of the robot arm j under the support device coordinate system (X1, Y1, Z1).

During the adjustment movement of the support device, the mapping between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be determined in real time by a positioning device described below

Therefore, according to the formula, the target coordinates of the fixed point of the mechanical arm j in the robot coordinate system (X2, Y2, Z2) can be obtained in real time ² P _j ' and then the target coordinates of the fixed point in the robot coordinate system (X2, Y2, Z2) can be obtained in real time ² P _j ' controlling the mechanical arm j to follow the supporting device 100 to perform adjustment movement. Specifically, the target coordinates of the fixed point in the robot coordinate system (X2, Y2, Z2) can be determined ² P _j ' acquiring the target position of each joint of the mechanical arm j by adopting an inverse kinematics solution, and controlling the mechanical arm j to correspondingly move along with the supporting device 100 according to the target position of each joint of the mechanical arm j acquired in real time. The motion process of the other robot 220 can be referred to the adjustment process of the robot j, so the process is referred to hereinNo further description is given.

Referring to fig. 11, a flow chart of automatic adjustment of the robot arm and the supporting device according to an embodiment of the invention is schematically shown. As shown in fig. 11, the computer program, when executed by the processor, further implements the steps of:

and judging whether the current state of the surgical robot system meets the adjustment requirement or not.

Specifically, as shown in fig. 11, after receiving an automatic adjustment instruction of a user, by first determining whether the current state of the surgical robot system is suitable for performing adjustment movement of the mechanical arm and the support device, if the current state is suitable for performing adjustment movement of the mechanical arm and the support device, then performing automatic adjustment movement of the support device and the mechanical arm; if the judgment result is no, the automatic adjustment process is ended. Therefore, the invention can effectively ensure the operation safety in the automatic adjustment process by carrying out the automatic adjustment movement of the supporting device and the mechanical arm on the premise that the current state of the operation robot system meets the adjustment requirement. Specifically, it may be determined whether the current state of the surgical robot system meets the adjustment requirement by performing a plurality of safety checks, including, but not limited to, checking whether each of the robot arms is in a position holding state (i.e., whether the robot arm is in a stationary state), whether the position of the instrument mounted on each of the robot arms is locked, whether the position of the instrument mounted on each of the robot arms is appropriate, and determining that the current state of the surgical robot system does not meet the adjustment requirement when any of the conditions, such as the robot arms are not in the position holding state, the position of the instrument mounted on each of the robot arms is not locked, and the position of the instrument mounted on each of the robot arms is not appropriate, occurs. When the mechanical arms are in the position holding state, the positions of the instruments installed on the mechanical arms are locked, and the positions of the instruments installed on the mechanical arms are proper, the current state of the surgical robot system is judged to meet the adjustment requirement.

Further, as shown in fig. 11, when executed by the processor, the computer program further realizes the following steps:

Therefore, the real-time adjustment motion process of the mechanical arm and the supporting device is displayed in the automatic adjustment process, so that a user can conveniently observe the adjustment motion process of the mechanical arm and the supporting device.

Please continue to refer to fig. 12, which schematically illustrates a monitoring process of the adjustment status according to an embodiment of the present invention. As shown in fig. 12, the computer program, when executed by the processor, further implements the steps of:

and monitoring the real-time adjustment movement process of each mechanical arm and the supporting device to judge whether abnormal conditions occur.

Specifically, as shown in fig. 12, in the automatic adjustment process of the robot arms and the supporting devices, the real-time adjustment movement process of each robot arm and the supporting devices is monitored, and whether an abnormal condition exists in the adjustment process is determined, so that when an abnormal condition occurs in the adjustment process, the automatic adjustment process can be immediately stopped to protect the safety of the patient. For example, when the patient is judged to have too much force at the punch hole, it is judged to be abnormal, and when the deviation of the fixed point of the mechanical arm in the support device coordinate system is large, it is also judged to be abnormal.

Further, as shown in fig. 12, when executed by the processor, the computer program further realizes the following steps:

judging whether the mechanical arm and/or the supporting device move to a target pose;

if yes, the target pose is saved.

Therefore, in the automatic adjustment process of the mechanical arm and the supporting device, whether the mechanical arm and/or the supporting device moves to the target pose is judged, so that when the mechanical arm and/or the supporting device moves to the target pose, the target pose is saved, and the automatic adjustment process is ended.

Referring to fig. 13, a schematic diagram of a frame structure of an adjustment system according to an embodiment of the present invention is schematically shown, and as shown in fig. 13, the adjustment system includes a surgical robot system, the surgical robot system includes a robot 200, the robot 200 includes a robot base 210, and at least one mechanical arm 220 is mounted on the robot base 210.

With continued reference to fig. 13, the adjustment system further includes a positioning device 400, a supporting device 100, and a controller 300, wherein the robot 200, the positioning device 400, and the supporting device 100 are all communicatively connected to the controller 300. The controller 300 includes a processor and the readable storage medium described above. The supporting device 100 has multiple degrees of freedom such as movement, pitching, and yawing (the supporting device has multiple joints to realize the movement of multiple degrees of freedom such as movement, pitching, and yawing, and the specific structure of the supporting device can refer to a multi-degree-of-freedom hospital bed in the prior art, and is not described herein again). The supporting device 100 includes a supporting device base 110 and a supporting body 120 mounted on the supporting device base 110. The supporting device 100 is used for supporting the surgical object (e.g., a surgical object), i.e., the surgical object can lie or sit on the supporting device 200 for performing a surgery, and the supporting device 200 can be a hospital bed or other components besides a hospital bed capable of supporting the surgical object for performing a surgical operation.

In some embodiments, the controller 300 may be provided in conjunction with any one or more devices in the surgical robotic system, such as at the surgeon control end 600 of the surgical robotic system, or at the robot 100, or at a display device 500 described below, etc.; in some embodiments, the controller 300 may also be provided at the positioning device 400; in still other embodiments, the controller 300 is provided separately; the controller 300 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 300 is not limited in the present invention.

Referring to fig. 14, a block diagram of a processor in a controller according to an embodiment of the invention is schematically shown. As shown in fig. 14, the processor specifically includes a target pose acquisition module 310 and a control module 320. The target pose acquisition module 310 is configured to acquire a target pose of the mechanical arm 220 or a target pose of the support apparatus 100; the control module 320 is configured to control the mechanical arm 220 to perform an adjustment motion and control the supporting device 100 to follow the mechanical arm 220 to perform a corresponding motion according to the target pose of the mechanical arm 220; or according to the target pose of the supporting device 100, controlling the supporting device 100 to perform adjustment movement and controlling the mechanical arm 220 to perform corresponding movement along with the supporting device 100.

As shown in fig. 14, further, the target pose acquisition module 310 includes a memory unit 310 and a calculation unit 312, where the memory unit 310 is configured to acquire the target pose of the robotic arm 220 or the target pose of the support device 100 according to a pre-stored correspondence relationship between the target pose and the operation type, for example, the memory unit is configured to store a preset robotic arm and bed configuration and save the preset configuration, so as to achieve an intraoperative automatic recovery to the preset configuration, and the preset configuration can avoid collision in the robotic arm operation and/or has an optimal operation space; the solution unit 312 is configured to obtain a target pose of the mechanical arm 220 or a target pose of the supporting apparatus 100 according to a preset objective function.

Wherein, a plurality of different surgical configurations (i.e. target poses) of the mechanical arm 220 and the supporting device 100 are preset in the memory unit 310, for example, a kidney-type surgical configuration, a prostate-type surgical configuration, etc., and the calculating unit 312 can calculate an optimal configuration of the mechanical arm 220 or the supporting device 100 through an optimization algorithm according to the state of the surgical robot system and the specific requirements of a user (e.g., medical staff). In the actual operation process, a user (e.g. a medical staff) may select a corresponding operation type through a physical key or a virtual key to enter a recovery mode, and the control module 320 may control the mechanical arm 220 or the support device 100 to automatically move to the configuration position according to the configuration of the mechanical arm 220 or the support device 100 acquired by the memory unit 310. The user (e.g., a medical staff) may also select to enter the setting mode through a physical key or a virtual key, and at this time, the control module 320 may control the mechanical arm 220 or the supporting apparatus 100 to automatically move to the optimal configuration according to the optimal configuration of the mechanical arm 220 or the supporting apparatus 100 calculated by the calculating unit 312. After determining the optimal configuration of the robotic arm 220 or the supporting device 100, a user (e.g., a medical staff member) can save the information related to the optimal configuration through the memory unit 310, so that the user (e.g., the medical staff member) can directly control the robotic arm 220 or the supporting device 100 to return to the saved optimal configuration through the controller 300 in the subsequent surgical procedure.

It should be noted that, as will be understood by those skilled in the art, in other embodiments, the target pose acquisition module 310 may only include the memory unit 310; in other embodiments, the target pose acquisition module 310 may also include only the solution unit 312.

As shown in fig. 14, the control module 320 includes a trajectory planning unit 321 and an adjusting unit 322. The trajectory planning unit 321 is configured to plan a motion trajectory of the mechanical arm 220 according to the target pose and the current pose of the mechanical arm 220, or plan a motion trajectory of the support device 100 according to the target pose and the current pose of the support device 100; the adjusting unit 322 is configured to control each of the robot arms 220 to perform an adjusting motion according to the planned motion track of the robot arm 220, and control the supporting device 100 to perform a corresponding motion along with the motion track of the robot arm 220, or control the supporting device 100 to perform an adjusting motion according to the motion track of the supporting device 100, and control the robot arm 220 to perform a corresponding motion along with the motion track of the supporting device 100.

Further, the trajectory planning unit 321 is configured to plan a motion trajectory of each joint of the robot arm 220 according to a target position and a current position of each joint of the robot arm 220; or planning the motion trail of each joint of the supporting device 100 according to the target position and the current position of each joint of the supporting device 100.

Further, the trajectory planning unit 321 is configured to obtain the motion trajectory of the mechanical arm 220 (the motion trajectory of each joint of the mechanical arm 220) by using an interpolation algorithm according to the target pose and the current pose of the mechanical arm 220 (the target position and the current position of each joint of the mechanical arm 220); or obtaining the motion trail of the supporting device 100 (the motion trail of each joint of the supporting device 100) by adopting an interpolation algorithm according to the target pose and the current pose of the supporting device 100 (the target position and the current position of each joint of the supporting device 100).

Referring to fig. 15, a schematic view of a measurement principle of a positioning apparatus according to an embodiment of the invention is schematically shown. As shown in fig. 15, the positioning device 400 is a binocular camera, that is, in the present embodiment, the positioning device 400 acquires a mapping relationship between a robot coordinate system (X2, Y2, Z2) and a world coordinate system (X0, Y0, Z0) and a real-time mapping relationship between a support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) based on a binocular vision measurement principle. The supporting body 120 of the supporting device 100 is provided with a plurality of first markers 130, and further, in order to improve the measurement accuracy, the supporting device base 110 may also be provided with a plurality of first markers 130, the robot base 210 is provided with a plurality of second markers 240, the images of the plurality of first markers 130 are obtained by the binocular camera, so that the coordinates of the plurality of first markers 130 under the world coordinate system (X0, Y0, Z0) can be obtained, and then the mapping relationship between the supporting device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be obtained according to the mapping relationship between the plurality of first markers 130 and the supporting device coordinate system (X1, Y0, Z1). Similarly, the images of the second markers 240 are obtained by the binocular camera, so that the coordinates of the second markers 240 in the world coordinate system (X0, Y0, Z0) can be obtained, and then the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) can be obtained according to the mapping relationship between the second markers 240 and the robot coordinate system (X2, Y2, Z2).

It should be noted that, as will be understood by those skilled in the art, in other embodiments, the positioning apparatus 400 may further obtain a mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) and a real-time mapping relationship between the support apparatus coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) based on a common position measurement method such as a monocular vision measurement method, an optical tracking measurement method, an electromagnetic measurement method, or the like, which is not limited in this disclosure.

Further, after the adjustment movement of the mechanical arm 220 and the supporting device 100 is completed, the system stores the adjusted pose of the mechanical arm 220 and the adjusted pose of the supporting device 100, and the whole automatic adjustment process is finished. Thus, by saving the adjusted posture of the robot arm 220 and the posture of the support device 100, the robot arm 220 and the support device 100 can be directly restored to the saved postures in the subsequent surgical procedure.

As shown in fig. 14, the processor further includes a status determining module 330, and the status determining module 330 is configured to determine whether the current status of the surgical robot system is suitable for performing the adjustment movement of the robot arm 220 and the support device 100. Specifically, after a user (e.g., a medical staff) sends an automatic adjustment command to the controller 300 through an entity button on the surgical robot system or a virtual button on the interactive interface (i.e., after the controller 300 receives the user command), in order to ensure safety during an automatic adjustment process, before entering the automatic adjustment process, the state determining module 330 may perform a plurality of safety checks to determine whether a current state of the surgical robot system is suitable for performing adjustment motions of the robot arm 220 and the supporting device 100, and if the determination result is yes, perform an automatic adjustment motion of the supporting device 100 and the robot arm 220. If the judgment result is no, the automatic adjustment request of the user (such as medical staff) is forbidden, and the automatic adjustment process is directly ended. In order to facilitate timely awareness by a user (e.g., a medical staff), the surgical robot system may provide several pieces of explanatory information to the user (e.g., a medical staff) or provide feedback in the form of audible and visual alarms under the control of the controller 300.

As shown in fig. 14, the processor further includes a monitoring module 340, and the monitoring module 340 is configured to monitor the adjustment movement of each of the robot arms 220 and the support device 100.

As shown in fig. 13, the adjustment system further includes a display device 500 communicatively connected to the controller 300, wherein the display device 500 is used for displaying the real-time adjustment movement process of the robot arm 220 and the support device 100. Thus, the display device 500 can display the adjustment movement process of the mechanical arm 220 and the support device 100 in real time, for example, as shown in the right-side box of fig. 16, and a user (e.g., a medical staff) can observe an image taken by an endoscope mounted on the mechanical arm 220 through the display device 500, as shown in the left-side box of fig. 16, so as to prevent the instrument 230 mounted on the mechanical arm 220 from injuring the tissue of the patient.

It should be noted that the readable storage medium of the embodiments of the present invention may adopt 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 case of a remote computer, 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 readable storage medium, the surgical robot system and the adjustment system provided by the present invention have the following advantages: according to the robot arm posture adjusting device, the target posture of the mechanical arm of the robot is firstly obtained, then the mechanical arm is adjusted to move, so that the posture of the mechanical arm is adjusted to the target posture, and in the adjusting process of the mechanical arm, the supporting device is controlled to move correspondingly along with the mechanical arm; or firstly acquiring the target pose of the supporting device, then adjusting the supporting device to adjust the pose of the supporting device to the target pose, and controlling the mechanical arm of the robot to correspondingly move along with the supporting device in the adjusting process of the supporting device. Therefore, the invention can realize the adjustment of the body position (namely the pose of the supporting device) of the patient and the pose of the mechanical arm under the condition of not withdrawing the instrument, thereby completing the operation more efficiently and safely, reducing the requirements on the preoperative punching position and the equipment positioning, effectively reducing the preoperative preparation time and effectively avoiding the probability of collision of the mechanical arm.

It should be noted that the apparatuses and methods disclosed in the embodiments herein can 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 describing the preferred embodiment of the present invention, and it is not intended to limit the scope of the present invention in any way, and any changes and modifications made by those skilled in the art in light of 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, if such modifications and variations fall within the scope of the present invention and its equivalent technology, it is intended that the present invention also include such modifications and variations.

Claims

1. A readable storage medium for a surgical robotic system, wherein the readable storage medium has a computer program stored therein, and when the computer program is executed by a processor, the computer program implements the following steps:

receiving an adjusting instruction of a user;

acquiring a target pose of the mechanical arm or a target pose of the supporting device;

2. The readable storage medium of claim 1, wherein the acquiring the target pose of the robotic arm or the target pose of the support device comprises:

acquiring a target pose of the mechanical arm or a target pose of the supporting device according to a corresponding relation between the pre-stored target pose and the operation type; or

3. The readable storage medium of claim 2, wherein the obtaining the target pose of the robot arm or the target pose of the support device according to a preset objective function comprises:

one of the mechanical arms is used as a target mechanical arm;

4. The readable storage medium of claim 3, wherein the preset objective function is:

w(q)＝α·w ₁ (q)+β·w ₂ (q)

wherein α is w ₁ (q) weight, β is w ₂ (q) and α + β =1,N is the number of joints of the target robot arm, q _i To traverse the safe space, the position of the ith joint of the target robotic arm,

is the average position of the ith joint, q, of the target robot arm _imax Is the maximum position of the ith joint of the target mechanical arm, q _imin Is the minimum position of the ith joint of the target mechanical arm, n is the number of the mechanical arms of the robot, h _i For traversing the safety space, two adjacentThe distance between the mechanical arms is increased, and the mechanical arms are arranged at the same time,

the average value of the distances between all the adjacent mechanical arms is obtained;

and taking the position with the maximum function value as the target position of the immobile point of the target mechanical arm.

5. The readable storage medium of claim 1, wherein the controlling the mechanical arm to perform the adjustment movement and the controlling the supporting device to follow the mechanical arm to perform the corresponding movement according to the target pose of the mechanical arm comprises:

acquiring the current pose of the mechanical arm;

acquiring the current pose of the supporting device;

6. The readable storage medium of claim 5, wherein the planning the motion trajectory of the robotic arm according to the target pose and the current pose of the robotic arm comprises:

acquiring a motion track of the mechanical arm by adopting an interpolation algorithm according to the target pose and the current pose of the mechanical arm;

7. The readable storage medium of claim 5, wherein the planning the motion trajectory of the robotic arm according to the target pose and the current pose of the robotic arm comprises:

8. The readable storage medium of claim 1, wherein said controlling said support device to follow a corresponding movement of said robotic arm comprises:

9. The readable storage medium of claim 1, wherein the computer program, when executed by the processor, performs the steps of:

10. The readable storage medium of claim 1, wherein the computer program, when executed by the processor, performs the steps of:

11. The readable storage medium of claim 1, wherein the computer program, when executed by the processor, performs the steps of:

12. A surgical robotic system comprising a robot including at least one robotic arm and a controller communicatively coupled to the robot, the controller comprising a processor and the readable storage medium of any one of claims 1 to 11.

13. A surgical robotic system as claimed in claim 12, comprising a display device in communicative connection with the controller for displaying real time adjusted movement of the robotic arm and the support device.

14. An adjustment system comprising a surgical robotic system according to claim 12 or 13 and a positioning device for obtaining a mapping between a robot coordinate system and a world coordinate system and a mapping between a support device coordinate system and the world coordinate system.

15. The adjustment system of claim 14, comprising a support device, the support device being in communication with the controller, the controller being configured to control the support device to perform the adjustment movement.