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

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 technique

At present, all industries are in the trend of electronics and intelligence. Especially in the operating room, a large number of semi-automatic and fully automatic electromechanical equipment are gradually being used in various surgical scenarios. For example, traditional hand-held surgical instruments are gradually replaced by surgical robots. replaced.

The design concept of the surgical robot is to use a minimally invasive method to accurately perform complex surgical operations, break through the limitations of the human eye, and use stereoscopic imaging technology to present the internal organs to the operator more clearly. In the area where the hand could not reach before, the robotic hand can complete 360-degree rotation, movement, swing, clamping, and avoid shaking. It is favored by the majority of doctors and patients. Now, as a high-end medical device, it has been widely used in various clinics. in surgery. However, during the operation, when the preoperative drilling position is not ideal, collisions between adjacent robotic arms are likely to occur, which greatly affects the operation process, or due to the influence of the patient's position, the lesion position is blocked by other tissues of the patient during the operation , the operation cannot be continued, or new lesions are found during the operation, and corresponding surgical operations need to be performed at the new lesions. Generally speaking, the user needs to interrupt the surgical process first, remove the surgical instruments, and the mechanical arm on the surgical robot must be separated from the sleeve at the position where the patient's body is punched, so that the patient and the surgical robot are completely separated, and then adjust the patient's position , the operation can only be continued after the preoperative preparation process of the surgical robot is continued. This process is not only time-consuming, but also very cumbersome to operate, requiring high proficiency of medical staff.

Contents of the invention

The purpose of the present invention is to provide a readable storage medium, a surgical robot system and an adjustment system, which can automatically adjust the position of the patient and the mechanical arm without withdrawing the instrument.

In order to achieve the above object, the present invention provides a readable storage medium, which is 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 following steps are implemented:

Receive adjustment instructions from users;

Obtain the target pose of the robotic arm or the target pose of the support device;

According to the target pose of the mechanical arm, controlling the mechanical arm to perform an adjustment movement and controlling the support device to follow the mechanical arm to perform a corresponding movement; or

According to the target pose of the support device, the support device is controlled to perform an adjustment movement and the mechanical arm is controlled to follow the support device to perform a corresponding movement.

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

Acquiring the target pose of the robotic arm or the target pose of the support device according to the pre-stored correspondence between the target pose and the type of operation; or

The target pose of the robotic arm or the target pose of the supporting device is obtained according to a preset objective function.

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

Use one of the robotic arms as the target robotic arm;

Obtain the current position of the fixed point of the target mechanical arm;

creating a safe space based on the current position of the fixed point of the target robotic arm;

Traverse each point of the safe space, and solve the function value of the preset objective function at different positions;

Taking the position where the function value satisfies the preset condition as the target position of the fixed point of the target mechanical arm;

The target pose of the robotic arm or the target pose of the supporting device is obtained according to the target position of the fixed point of the target robotic arm.

Optionally, the preset objective function is:

w(q)=α·w ₁ (q)+β·w ₂ (q)

为所述目标机械臂的第i个关节的平均位置，q_imax为所述目标机械臂的第i个关节的最大位置，q_imin为所述目标机械臂的第i个关节的最小位置，n为所述机器人的机械臂数量，h_i为遍历所述安全空间时，相邻两机械臂之间的间距，

为所有相邻机械臂之间的间距的平均值；Wherein, α is the weight of w ₁ (q), β is the weight of w ₂ (q), and α+β=1, N is the number of joints of the target mechanical arm, q _i is when traversing the safe space, the position of the i-th joint of the target manipulator,

is the average position of the i-th joint of the target manipulator, q _imax is the maximum position of the i-th joint of the target manipulator, q _imin is the minimum position of the i-th joint of the target manipulator, n is the number of mechanical arms of the robot, h _i is the distance between two adjacent mechanical arms when traversing the safe space,

is the average value of the spacing between all adjacent manipulators;

The position where the function value satisfies the preset condition is used as the target position of the fixed point of the target mechanical arm, including:

The position where the function value is maximum is taken as the target position of the fixed point of the target mechanical arm.

Optionally, according to the target pose of the mechanical arm, controlling the mechanical arm to perform an adjustment movement and controlling the support device to follow the mechanical arm to perform a corresponding movement includes:

Obtain the current pose of the robotic arm;

planning the motion trajectory of the robotic arm according to the target pose and the current pose of the robotic arm;

According to the planned motion trajectory of the mechanical arm, controlling the mechanical arm to perform an adjustment movement according to the motion trajectory, and controlling the support device to follow the motion trajectory of the mechanical arm to perform a corresponding movement;

According to the target pose of the support device, controlling the support device to perform adjustment movements and controlling the mechanical arm to follow the support device to perform corresponding movements includes:

Obtain the current pose of the support device;

planning a trajectory of the support device according to the target pose and the current pose of the support device;

According to the planned motion trajectory of the support device, the support device is controlled to perform an adjustment movement according to the motion trajectory, and the mechanical arm is controlled to follow the motion trajectory of the support device to perform a corresponding movement.

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

According to the target pose and the current pose of the robotic arm, an interpolation algorithm is used to obtain the motion trajectory of the robotic arm;

The planning of the motion trajectory of the support device according to the target pose and the current pose of the support device includes:

According to the target pose and the current pose of the support device, an interpolation algorithm is used to obtain the motion trajectory of the support device.

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

planning a movement trajectory of each joint of the mechanical arm according to the target position and the current position of each joint of the mechanical arm;

The planning of the motion trajectory of the support device according to the target pose and the current pose of the support device includes:

According to the target position and the current position of each joint of the support device, the motion trajectory of each joint of the support device is planned.

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

Obtain real-time position information of the fixed point of the mechanical arm in the robot coordinate system;

According to the real-time position information of the fixed point in the robot coordinate system, the mapping relationship between the fixed point and the support device coordinate system, and the mapping relationship between the robot coordinate system and the world coordinate system, obtain all the information in real time. A target mapping relationship between the support device coordinate system and the world coordinate system;

According to the target mapping relationship between the support device coordinate system and the world coordinate system obtained in real time, control the support device to follow the mechanical arm to perform corresponding movements;

The controlling the mechanical arm to follow the supporting device to perform corresponding movements includes:

Obtain the real-time mapping relationship between the support device coordinate system and the world coordinate system;

According to the real-time mapping relationship between the support device coordinate system and the world coordinate system, the mapping relationship between the fixed point of the manipulator and the support device coordinate system, and the robot coordinate system and the world coordinate system The mapping relationship between them, and obtain the target position information of the fixed point of the mechanical arm under the robot coordinate system in real time;

According to the target position information of the fixed point of the mechanical arm acquired in real time in the robot coordinate system, the mechanical arm is controlled to follow the support device to perform corresponding movements.

Optionally, when the computer program is executed by the processor, the following steps are implemented:

It is judged whether the current state of the surgical robot system meets the adjustment requirement.

Optionally, when the computer program is executed by the processor, the following steps are implemented:

The real-time adjustment movement process of the mechanical arm and the support device is monitored to determine whether an abnormal situation occurs.

Optionally, when the computer program is executed by the processor, the following steps are implemented:

The real-time adjustment movement process of the mechanical arm and the support device is displayed.

To achieve the above object, the present invention also provides a surgical robot system, the surgical robot system includes a robot and a controller, the robot includes at least one mechanical arm, the controller communicates with the robot, and the controller Including a processor and a readable storage medium as described above.

Optionally, the surgical robot system includes a display device communicatively connected with the controller, and the display device is used to display the real-time adjustment movement process of the mechanical arm and the support device.

To achieve the above object, the present invention also provides an adjustment system, the adjustment system includes the above-mentioned robot system and a positioning device, the positioning device is used to obtain the mapping relationship between the robot coordinate system and the world coordinate system and A mapping relationship between the support device coordinate system and the world coordinate system.

Optionally, the adjustment system includes a support device, and the support device is communicatively connected with the controller, and the controller is used to control the support device to perform an adjustment movement.

Compared with the prior art, the readable storage medium, surgical robot system and adjustment system provided by the present invention have the following advantages: the present invention obtains the target pose of the robotic arm of the robot first, and then adjusts the mechanical arm, to adjust the pose of the mechanical arm to a target pose, and during the adjustment process of the robotic arm, control the supporting device to follow the corresponding movement of the robotic arm; or obtain the target pose of the supporting device first, The supporting device is then adjusted to adjust the posture of the supporting device to a target posture, and during the adjustment process of the supporting device, the mechanical arm of the robot is controlled to follow the supporting device to perform corresponding movements. It can be seen that the present invention can realize the adjustment of the position of the patient (that is, the position of the support device) and the position of the mechanical arm without withdrawing the instrument, thereby completing the operation more efficiently and safely, and reducing the need for preoperative The requirements for the location of the punching hole and the positioning of the equipment can effectively reduce the preoperative preparation time, and can effectively avoid the probability of collision of the robotic arm.

Description of drawings

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

FIG. 2 is a schematic flow diagram of acquiring a target pose in an embodiment of the present invention;

Fig. 3 is a schematic flow chart of calculating and obtaining a target pose in an embodiment of the present invention;

Fig. 4 is a schematic flow chart of the adjustment movement of the mechanical arm following the supporting device in an embodiment of the present invention;

Fig. 5 is a schematic flowchart of the adjustment movement of the supporting device following the mechanical arm in an embodiment of the present invention;

Fig. 6 is a schematic flow chart of planning motion trajectory using trapezoidal velocity curve interpolation in an embodiment of the present invention;

7 is a schematic diagram of a trapezoidal speed curve planning motion trajectory in an embodiment of the present invention;

Fig. 8 is a schematic diagram of a triangular speed curve planning motion trajectory in an embodiment of the present invention;

Fig. 9 is a speed graph of polynomial interpolation planning motion trajectory in an embodiment of the present invention;

Fig. 10 is an acceleration curve diagram of polynomial interpolation planning motion trajectory in an embodiment of the present invention;

Fig. 11 is a schematic diagram of the overall flow of the automatic adjustment of the mechanical arm and the supporting device in an embodiment of the present invention;

Fig. 12 is a schematic flow diagram of the monitoring process of the adjustment state in an embodiment of the present invention;

Fig. 13 is a schematic diagram of the frame structure of the adjustment system in an embodiment of the present invention;

FIG. 14 is a schematic block diagram of a processor in an embodiment of the present invention;

Fig. 15 is a schematic diagram of the measurement principle of the positioning device in an embodiment of the present invention;

FIG. 16 is a schematic display diagram of a display device in an embodiment of the present invention.

Wherein, the reference signs are as follows:

Support device-100; support device base-110; support body-120; robot-200; robot base-210; mechanical arm-220; instrument-230; controller-300; target pose acquisition module-310; module-320; memory unit-311; solving unit-312; trajectory planning unit-321; adjustment unit-322; state judging module-330; monitoring module-340; positioning device-400; Two markers-240; display device-500; doctor control terminal-600.

detailed description

The readable storage medium, surgical robot system and adjustment system proposed by the present invention will be further described in detail below with reference to the accompanying drawings 1 to 16 and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and all use imprecise scales, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In order to make the objects, features and advantages of the present invention more comprehensible, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Conditions, any modification of structure, change of proportional relationship or adjustment of size, under the same or similar situation as the effect and purpose of the present invention, should still fall within the technical content disclosed in the present invention within the range that can be covered.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The main purpose of the present invention is to provide a readable storage medium, a surgical robot system and an adjustment system, which can realize the purpose of automatic adjustment of the patient's position and the posture of the mechanical arm without withdrawing the instrument. It should be noted that the robot coordinate system (X2, Y2, Z2) referred to in this paper is a coordinate system created with any point on the robot base as the origin, and the so-called support device coordinate system (X1, Y1, Z1 ) is a coordinate system created with any point on the support body of the support device as the origin. The so-called pose of the manipulator refers to the pose of the manipulator in the robot coordinate system (X2, Y2, Z2), and the so-called The pose of the support device refers to the pose of the support device in the world coordinate system (X0, Y0, Z0); during the automatic adjustment process, the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0 , Y0, Z0), the mapping relationship between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) is as the support device changes due to changes in pose.

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 includes a robot, the robot includes at least one mechanical arm, and a computer program is stored in the readable storage medium. Please refer to FIG. 1 , which schematically shows the steps implemented when a computer program stored on a readable storage medium provided by an embodiment of the present invention is executed by a processor. As shown in Figure 1, when the computer program is executed by the processor, the following steps are implemented:

Step S1, receiving an adjustment instruction from a user;

Step S2, acquiring the target pose of the robotic arm or the target pose of the supporting device;

Step S3, according to the target pose of the robotic arm, control the robotic arm to move and control the supporting device to follow the corresponding movement of the robotic arm; or control the supporting device according to the target pose of the supporting device The device performs an adjustment movement and controls the mechanical arm to follow the support device to perform a corresponding movement.

Thus, the present invention acquires the target pose of the robotic arm of the robot first, and then adjusts the robotic arm to adjust the pose of the robotic arm to the target pose. During the process, the support device is controlled to follow the mechanical arm to perform corresponding movements; or the target pose of the support device is obtained first, and then the support device is adjusted to adjust the pose of the support device to the target position posture, and during the adjustment process of the support device, the mechanical arm of the robot is controlled to follow the support device to move accordingly. It can be seen that the present invention can realize the adjustment of the position of the patient (that is, the position of the support device) and the position of the mechanical arm without withdrawing the instrument, thereby completing the operation more efficiently and safely, and reducing the need for preoperative The requirements for the location of the punching hole and the positioning of the equipment can effectively reduce the preoperative preparation time, and can effectively avoid the probability of collision of the robotic arm.

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

Acquiring the target pose of the robotic arm or the target pose of the support device according to the pre-stored correspondence between the target pose and the operation type; or

The target pose of the mechanical arm or the target pose of the supporting device is obtained according to a preset objective function.

Please refer to FIG. 2 , which schematically shows a flow chart of acquiring a target pose provided by an embodiment of the present invention. As shown in Figure 2, the user (such as a medical staff) can select the corresponding operation type through an input unit (such as a physical button or a virtual button) to enter the recovery mode. According to the corresponding relationship, the target pose of the robot arm or the target pose of the supporting device is selected. Users (such as medical personnel) can also choose to enter the setting mode through physical buttons or virtual buttons. At this time, the target pose of the mechanical arm or the target pose of the support device can be obtained according to a preset target function. It should be noted that the target pose of the robotic arm referred to in this application refers to the pose that the robotic arm needs to adjust to (ie, the end position and posture of the robotic arm), and the so-called target pose of the support device, Refers to the posture that the support device needs to adjust to (ie, the three-dimensional space position of the support device and the rotation angle around each direction).

Specifically, the target pose of the robotic arm or the target pose of the support device can be obtained according to a preset objective function through the following steps:

Use one of the robotic arms as the target robotic arm;

Obtain the current position of the fixed point of the target mechanical arm;

creating a safe space based on the current position of the fixed point of the target robotic arm;

Traverse each point of the safe space, and solve the function value of the preset objective function at different positions;

Taking the position where the function value satisfies the preset condition as the target position of the fixed point of the target mechanical arm;

The target pose of the robotic arm or the target pose of the supporting device is obtained according to the target position of the fixed point of the target robotic arm.

Please refer to FIG. 3 , which schematically shows a flow chart of calculating and obtaining a target pose provided by an embodiment of the present invention. As shown in Figure 3, in the actual operation process, any robotic arm can be selected as the target robotic arm, for example, a robotic arm equipped with an endoscope is selected as the target robotic arm, and by obtaining the fixed point of the target robotic arm The current position (coordinates under the robot coordinate system (X2, Y2, Z2)), and create a safe space based on the current position of the fixed point of the target mechanical arm (to ensure that the patient will not be injured when the mechanical arm moves in this safe space organs and tissues), the safe space can be a three-dimensional space with smooth boundaries such as spherical space, ellipsoidal space, and conical space. Specifically, taking the spherical space as an example, the current position of the fixed point can be used as the center of the sphere , creating a safe space with a preset radius (for example, 2cm), and then traversing every point in the safe space (including every point on the boundary of the safe space and every point in the safe space) with a fixed step, Solve the function value of the preset objective function at different positions, and use the position where the function value satisfies the preset condition as the target position of the fixed point. At this time, the target position of the fixed point refers to the fixed point at the robot coordinate The coordinates under the system (X2, Y2, Z2), that is, the target pose of the target mechanical arm. By inversely solving the target position of the fixed point, for example, the target position of each joint of the target mechanical arm can be obtained by using an inverse kinematics method. Since there is a predetermined mapping relationship between the fixed points of other mechanical arms and the fixed point of the target mechanical arm, according to the relationship between the fixed points of other mechanical arms and the fixed point of the target mechanical arm The mapping relationship between them and the target position of the fixed point of the target manipulator, the target position of the fixed point of other manipulators can be obtained, that is, the target pose of other said manipulators, through other manipulators The target position of the fixed point of the fixed point can be inversely solved to obtain the target position of each joint of the other said mechanical arm.

Similarly, since there is a predetermined mapping relationship between the fixed point of the target mechanical arm and the support device coordinate system (X1, Y1, Z1), the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, There is a predetermined mapping relationship between Y0, Z0), thus, according to the target position of the fixed point of the target mechanical arm, the fixed point of the target mechanical arm and the support device coordinate system (X1, Y1, Z1) and the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), the support device can be obtained in the world coordinate system (X0, Y0 , Z0), the target position of each joint of the support device can be obtained by inversely solving the target pose of the support device. Wherein, the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) can be measured by the positioning device described below.

Further, the preset objective function is:

w(q)=α·w ₁ (q)+β·w ₂ (q)

为所述目标机械臂的第i个关节的平均位置，q_imax为所述目标机械臂的第i个关节的最大位置，q_imin为所述目标机械臂的第i个关节的最小位置，n为所述机器人的机械臂数量，h_i为遍历所述安全空间时，相邻两机械臂之间的间距，

为所有相邻机械臂之间的间距的平均值。Wherein, α is the weight of w ₁ (q), β is the weight of w ₂ (q), and α+β=1, N is the number of joints of the target mechanical arm, q _i is when traversing the safe space, the position of the i-th joint of the target manipulator,

is the average position of the i-th joint of the target manipulator, q _imax is the maximum position of the i-th joint of the target manipulator, q _imin is the minimum position of the i-th joint of the target manipulator, n is the number of mechanical arms of the robot, h _i is the distance between two adjacent mechanical arms when traversing the safe space,

is the average of the distances between all adjacent manipulators.

Correspondingly, the position where the function value satisfies the preset condition is used as the target position of the fixed point, including:

The position where the objective function value is maximum is taken as the target position of the fixed point.

Specifically, when traversing a certain point in the safe space, the position of each joint of the target mechanical arm at this position and the fixed points of other mechanical arms at this position are obtained through an inverse kinematics algorithm. corresponding to the position to obtain the function value of the objective function w(q) at the position. Similarly, when traversing any other point in the safe space, the above method can be used to obtain the function value of the objective function w(q) at the corresponding position. By comparing the function values of the objective function w(q) at different positions, the position where the function value is maximum is taken as the target position of the fixed point of the target mechanical arm.

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

即所述机器人的机械臂220的各关节的位置均趋近于其平均位置，因此机械臂的工作空间范围大大提高，此时能够满足机械臂运动空间最优的条件。In this case, when the function value of the objective function w(q) is the largest, q _i tends to

That is, the position of each joint of the mechanical arm 220 of the robot is close to its average position, so the working space range of the mechanical arm is greatly improved, and the condition of optimal motion space of the mechanical arm can be satisfied at this time.

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

即所述机器人的各机械臂之间趋近于等间距分布，因此可以有效避免手术过程中各机械臂之间发生碰撞，此时能够满足机械臂摆位最优的条件。In this case, when the value of the objective function is the largest, h _i tends to

That is, the distribution of the mechanical arms of the robot tends to be equidistant, so that the collision between the mechanical arms during the operation can be effectively avoided, and at this time, the condition for optimal positioning of the mechanical arms can be met.

When α is 0.5 and β is 0.5, the optimization of the movement space of the manipulator and the optimization of the position of the manipulator can reach a balance, which can not only improve the effective movement space of the manipulator, but also effectively reduce the collision of the manipulator during the operation. The probability.

Please continue to refer to FIG. 4 , which schematically shows a flow chart of the adjustment movement of the mechanical arm following the support device provided by an embodiment of the present invention. As shown in FIG. 4 , according to the target pose of the mechanical arm, The process of controlling the mechanical arm to perform an adjustment movement and controlling the supporting device to follow the mechanical arm to perform a corresponding movement includes:

Obtain the current pose of the robotic arm;

planning the motion trajectory of the robotic arm according to the target pose and the current pose of the robotic arm;

According to the planned movement trajectory of the mechanical arm, the mechanical arm is controlled to perform adjustment movements according to the movement trajectory, and the support device (such as an operating bed) is controlled to follow the movement trajectory of the mechanical arm to perform a corresponding movement.

Please continue to refer to FIG. 5 , which schematically shows a flowchart of the adjustment movement of the support device following the mechanical arm provided by an embodiment of the present invention. As shown in FIG. 5 , the control of the support device to perform an adjustment movement and control the mechanical arm to follow the support device to perform a corresponding movement according to the target pose of the support device includes:

Obtain the current pose of the support device;

planning a trajectory of the support device according to the target pose and the current pose of the support device;

According to the planned motion trajectory of the support device, the support device is controlled to perform an adjustment movement according to the motion trajectory, and the mechanical arm is controlled to follow the motion trajectory of the support device to perform a corresponding movement.

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

According to the target pose and the current pose of the robotic arm, an interpolation algorithm is used to obtain the motion trajectory of the robotic arm;

The planning of the motion trajectory of the support device according to the target pose and the current pose of the support device includes:

According to the target pose and the current pose of the support device, an interpolation algorithm is used to obtain the motion trajectory of the support device.

Please refer to FIG. 6 to FIG. 8 , wherein FIG. 6 schematically shows a schematic flow chart of planning the motion track of a manipulator or support device using trapezoidal velocity curve interpolation provided by an embodiment of the present invention; FIG. 7 schematically shows A schematic diagram of trapezoidal speed curve planning provided by an embodiment of the present invention is shown; FIG. 8 schematically shows a schematic diagram of triangular speed curve planning provided by an embodiment of the present invention. As shown in Figures 6 to 8, the speed rise time t _s in the trapezoidal speed curve can be obtained according to the set maximum speed V _max and constant acceleration a, where the maximum speed V _max and constant acceleration a can be set according to specific conditions. When the planning distance s (the distance between the target position and the current position) is less than V _max * t _s , a triangular velocity curve is used to generate the motion trajectory, where the velocity trajectory is shown in Figure 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 greater than or equal to V _max *t _s , the trapezoidal velocity curve is used to generate the motion trajectory, where the velocity trajectory is shown in Figure 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(tt _f ), t _f -t _s ≤t≤t _f

The principle of using polynomial interpolation to plan motion trajectories will be described below by taking pentomial interpolation as an example.

The position expression at time t is set as:

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

Set the position at the initial time as q ₀ , the position at the end time as q _f , the speed at the initial time and the speed at the end time are both 0, the above conditions are constraints, that is, the constraints are:

q(0)=q _s

q(t _f )=q _f

Using the above six constraints, the position trajectory can be obtained, where:

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 the velocity curve diagram of the pentomial interpolation planning trajectory provided by an embodiment of the present invention. The acceleration trajectory can be obtained by deriving the velocity trajectory. Please refer to FIG. 10 , which schematically shows the acceleration curve diagram of the pentomial interpolation planning trajectory provided by an embodiment of the present invention.

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

planning a movement trajectory of each joint of the mechanical arm according to the target position and the current position of each joint of the mechanical arm;

The planning of the motion trajectory of the support device according to the target pose and the current pose of the support device includes:

According to the target position and the current position of each joint of the support device, the motion trajectory of each joint of the support device is planned.

Further, the controlling the supporting device to follow the corresponding movement of the mechanical arm includes:

Obtain real-time position information of the fixed point of the mechanical arm in the robot coordinate system;

According to the real-time position information of the fixed point in the robot coordinate system, the mapping relationship between the fixed point and the support device coordinate system, and the mapping relationship between the robot coordinate system and the world coordinate system, obtain all the information in real time. A target mapping relationship between the support device coordinate system and the world coordinate system;

According to the target mapping relationship between the coordinate system of the support device and the world coordinate system obtained in real time, the support device is controlled to follow the mechanical arm to perform a corresponding movement.

可通过如下公式求得：Specifically, during the corresponding movement of the support device following the robot arm j, the target mapping relationship between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0)

It can be obtained by the following formula:

为机器人坐标系(X2，Y2，Z2)与世界坐标系(X0，Y0，Z0)之间的映射关系，²P_i为机械臂j的不动点在机器人坐标系(X2，Y2，Z2)下的坐标，其随着机械臂j的调整运动不断变化，¹P_j为机械臂j的不动点在支撑装置坐标系(X1，Y1，Z1)下的坐标，(¹P_j)⁺为¹P_j的伪逆。in,

is the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), ² P _i is the fixed point of the robot arm j in the robot coordinate system (X2, Y2, Z2) The coordinates below are constantly changing with the adjustment movement of the manipulator j, ¹ P _j is the coordinate of the fixed point of the manipulator j in the support device coordinate system (X1, Y1, Z1), ( ¹ P _j ) ⁺ is ¹ Pseudo-inverse of _j .

进而可以根据实时获取的所述支撑装置坐标系(X1，Y1，Z1)与所述世界坐标系(X0，Y0，Z0)之间的目标映射关系

控制所述支撑装置跟随所述机械臂j进行相应运动。具体的，可以通过对所获取的支撑装置坐标系(X1，Y1，Z1)与世界坐标系(X0，Y0，Z0)之间的目标映射关系

采用逆运动学解法获取所述支撑装置的各个关节的目标位置，进而根据实时获取的所述支撑装置的各个关节的目标位置，控制所述支撑装置跟随所述机械臂j进行相应运动。Since position sensors are installed on each joint of the mechanical arm j, the coordinates of each joint in the robot coordinate system (X2, Y2, Z2) can be obtained in real time during the adjustment movement process of the mechanical arm 220, through The kinematic equation can obtain the coordinates ² P _j of the fixed point of the mechanical arm j in the robot coordinate system (X2, Y2, Z2) in real time. Thus, according to the above formula, the target mapping relationship between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be obtained in real time

Furthermore, according to the target mapping relationship between the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) obtained in real time

The supporting device is controlled to follow the mechanical arm j to move accordingly. 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

The target position of each joint of the support device is obtained by using an inverse kinematics solution, and then the support device is controlled to follow the mechanical arm j to perform a corresponding movement according to the target position of each joint of the support device obtained in real time.

The controlling the mechanical arm to follow the supporting device to perform corresponding movements includes:

Obtain the real-time mapping relationship between the support device coordinate system and the world coordinate system;

According to the real-time mapping relationship between the support device coordinate system and the world coordinate system, the mapping relationship between the fixed point of the manipulator and the support device coordinate system, and the robot coordinate system and the world coordinate system The mapping relationship between them, and obtain the target position information of the fixed point of the mechanical arm under the robot coordinate system in real time;

According to the target position information of the fixed point of the mechanical arm acquired in real time in the robot coordinate system, the mechanical arm is controlled to follow the support device to perform corresponding movements.

Specifically, taking robotic arm j as an example, during the adjustment movement of robotic arm j following the support device, the fixed point of robotic arm j is at the target coordinate ² P′ _j in the robot coordinate system (X2, Y2, Z2) It can be obtained by the following formula:

为支撑装置坐标系(X1，Y1，Z1)与世界坐标系(X0，Y0，Z0)之间的映射关系，其随着支撑装置的调整运动不断变化，

为机器人坐标系(X2，Y2，Z2)与世界坐标系(X0，Y0，Z0)之间的映射关系，¹P_j为机械臂j的不动点在支撑装置坐标系(X1，Y1，Z1)下的坐标。in,

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

is the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0), ¹ P _j is the fixed point of the manipulator j in the support device coordinate system (X1, Y1, Z1 ) under the coordinates.

由此，根据上述公式，即可实时获取所述机械臂j的不动点在机器人坐标系(X2，Y2，Z2)下的目标坐标²P_j′，进而可以根据实时获取的所述不动点在机器人坐标系(X2，Y2，Z2)下的目标坐标²P_j′，控制所述机械臂j跟随所述支撑装置100进行调整运动。具体的，可以根据所述不动点在机器人坐标系(X2，Y2，Z2)下的目标坐标²P_j′，采用逆运动学解法获取所述机械臂j的各个关节的目标位置，进而根据实时获取的所述机械臂j的各个关节的目标位置，控制所述机械臂j跟随所述支撑装置100进行相应运动。其它机械臂220的运动过程可以参考上述机械臂j的调整过程，故在此不再进行赘述。During the adjustment movement of the supporting device, the mapping relationship between the supporting device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be measured in real time through the positioning device described below

Thus, according to the above formula, the target coordinate ² P _j ′ of the fixed point of the manipulator j in the robot coordinate system (X2, Y2, Z2) can be obtained in real time, and then the fixed point obtained in real time can be obtained according to Point at the target coordinate ² P _j ′ under the robot coordinate system (X2, Y2, Z2), and control the mechanical arm j to follow the support device 100 for adjustment movement. Specifically, according to the target coordinate ² P _j ′ of the fixed point in the robot coordinate system (X2, Y2, Z2), the inverse kinematics solution can be used to obtain the target position of each joint of the manipulator j, and then according to The target position of each joint of the mechanical arm j is acquired in real time, and the mechanical arm j is controlled to follow the support device 100 to perform a corresponding movement. For the movement process of other mechanical arms 220, reference may be made to the adjustment process of the above-mentioned mechanical arm j, so details will not be repeated here.

Please refer to FIG. 11 , which schematically shows a flow chart of the automatic adjustment of the mechanical arm and the supporting device provided by an embodiment of the present invention. As shown in Figure 11, when the computer program is executed by the processor, the following steps are also implemented:

It is judged whether the current state of the surgical robot system meets the adjustment requirement.

Specifically, as shown in Figure 11, after receiving the user's automatic adjustment instruction, first judge whether the current state of the surgical robot system is suitable for adjusting the mechanical arm and the support device, if the judgment result is yes, then perform the support The automatic adjustment movement of the device and the mechanical arm; if the judgment result is negative, the automatic adjustment process ends. It can be seen that the present invention can effectively ensure the safety of the operation during the automatic adjustment process by performing the automatic adjustment movement of the support device and the mechanical arm on the premise that the current state of the surgical robot system meets the adjustment requirements. Specifically, it is possible to judge whether the current state of the surgical robot system satisfies the adjustment requirements by performing several safety checks. The safety checks include but are not limited to checking whether each of the robotic arms is in a position holding state (that is, whether the robotic arm is in the static state), whether the position of the instruments installed on each of the mechanical arms has been locked, whether the position of the instruments installed on each of the said mechanical arms is appropriate, for example, when each of the said mechanical arms is not in the position holding state, the installation When any situation occurs, such as the position of the instrument on each of the robotic arms is not locked, or the position of the instrument on each of the robotic arms is inappropriate, it is determined that the current state of the surgical robot system does not meet the adjustment requirements . When each of the mechanical arms is in a position holding state, the positions of the instruments installed on each of the mechanical arms are locked, and the positions of the instruments installed on each of the mechanical arms are appropriate, then the current state of the surgical robot system is determined Meet the adjustment requirements.

Further, as shown in Figure 11, when the computer program is executed by the processor, the following steps are also implemented:

The real-time adjustment movement process of the mechanical arm and the support device is displayed.

Therefore, by displaying the real-time adjustment movement process of the mechanical arm and the support device during the automatic adjustment process, it may be convenient for the user to observe the adjustment movement process of the mechanical arm and the support device.

Please continue to refer to FIG. 12 , which schematically shows a flow chart of monitoring an adjustment state provided by an embodiment of the present invention. As shown in Figure 12, when the computer program is executed by the processor, the following steps are also implemented:

The real-time adjustment movement process of each of the mechanical arms and the support device is monitored to determine whether there is an abnormal situation.

Specifically, as shown in Figure 12, during the automatic adjustment process of the mechanical arm and the support device, the real-time adjustment movement process of each of the mechanical arms and the support device is monitored, and it is judged whether there is an abnormal situation during the adjustment process, Therefore, when an abnormal situation occurs during the adjustment process, the automatic adjustment process can be stopped immediately to protect the safety of the patient. For example, when it is judged that the force on the patient's punching place is too large, it will be judged as an abnormal situation, and when the fixed point of the mechanical arm has a large offset in the coordinate system of the support device, it will also be judged as an abnormal situation .

Further, as shown in Figure 12, when the computer program is executed by the processor, the following steps are also implemented:

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

If so, save the target pose.

Thus, during the automatic adjustment process of the mechanical arm and the support device, it is judged whether the mechanical arm and/or the support device moves to the target pose, so that when the mechanical arm and/or the support device moves to the target pose , save the target pose and end the automatic adjustment process.

The present invention also provides an adjustment system. Please refer to FIG. 13, which schematically shows a schematic diagram of the frame structure of the adjustment system provided by an embodiment of the present invention. As shown in FIG. 13, the adjustment system includes a surgical robot system, The surgical robot system includes a robot 200 , and the robot 200 includes a robot base 210 on which at least one robot arm 220 is installed.

Please continue to refer to FIG. 13 , the adjustment system further includes a positioning device 400 , a supporting device 100 and a controller 300 , and 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 above-mentioned readable storage medium. The support device 100 has multiple degrees of freedom such as movement, pitch, and yaw (the support device has a plurality of joints to realize motions with multiple degrees of freedom such as movement, pitch, and yaw, and the specific structure of the support device You can refer to the multi-degree-of-freedom hospital bed in the prior art, which will not be repeated here). The support device 100 includes a support device base 110 and a support body 120 installed on the support device base 110 . The support device 100 is used to support the surgical object (such as the surgical object), that is, the surgical object can lie or sit on the support device 200 for surgery, and the support device 200 can be a hospital bed or other than a hospital bed. Other components capable of supporting the surgical object for surgical operations.

In some embodiments, the controller 300 can be set in combination with any one or more devices in the surgical robot system, for example, set at the doctor control terminal 600 of the surgical robot system, or set at the robot 100, or set at the display device 500 described below, etc.; in some embodiments, the controller 300 can also be set at the positioning device 400; in some other embodiments, the controller 300 set separately; and the controller 300 may be a specific hardware or software unit, or a combination of hardware and software, and the present invention does not limit the specific setting of the controller 300 .

Please continue to refer to FIG. 14 , which schematically shows a block structure diagram of a processor in a controller provided by an embodiment of the present invention. As shown in FIG. 14 , the processor specifically includes a target pose acquisition module 310 and a control module 320 . Wherein, the target pose obtaining module 310 is used to obtain the target pose of the mechanical arm 220 or the target pose of the support device 100; , control the mechanical arm 220 to adjust the movement and control the support device 100 to follow the corresponding movement of the mechanical arm 220; or according to the target pose of the support device 100, control the support device 100 to adjust the movement and control the The mechanical arm 220 follows the supporting device 100 for corresponding movement.

As shown in Figure 14, further, the target pose acquisition module 310 includes a memory unit 310 and a calculation unit 312, wherein the memory unit 310 is used to , to obtain the target pose of the robotic arm 220 or the target pose of the support device 100, for example, the memory unit is used to store a preset configuration of the robotic arm and the hospital bed, and save the preset configuration to Realize that the operation can be automatically restored to the preset configuration, the preset configuration can avoid the collision of the robotic arm during the operation and/or have the best operating space; the calculation unit 312 is used to obtain according to the preset objective function The target pose of the robotic arm 220 or the target pose of the supporting device 100 .

Wherein, the memory unit 310 is preset with several different surgical configurations (i.e., target poses) of the robotic arm 220 and the support device 100, such as kidney-type surgical configurations, prostate-type surgical configurations, etc., the solution The calculation unit 312 can calculate the optimal configuration of the mechanical arm 220 or the support device 100 through an optimization algorithm according to the state of the surgical robot system and the specific needs of users (such as medical personnel). In the actual operation process, the user (such as a medical staff) can select the corresponding operation type through the physical button or virtual button to enter the recovery mode. The configuration of the device 100 controls the automatic movement of the mechanical arm 220 or the support device 100 to the configured position. Users (such as medical staff) can also choose to enter the setting mode through physical buttons or virtual buttons. At this time, the control module 320 will calculate the optimal structure of the mechanical arm 220 or the support device 100 type, controlling the mechanical arm 220 or the supporting device 100 to automatically move to the optimal configuration. After determining the optimal configuration of the mechanical arm 220 or the support device 100, the user (such as a medical staff) can save the relevant information of the optimal configuration through the memory unit 310, so that the user (such as Medical staff) can directly control the mechanical arm 220 or the supporting device 100 to return to the saved optimal configuration through the controller 300 .

It should be noted that, as those skilled in the art can understand, in some other implementations, the target pose acquisition module 310 may only include the memory unit 310; in other implementations, the target pose acquisition The module 310 may also only include the calculating unit 312 .

As shown in FIG. 14 , the control module 320 includes a trajectory planning unit 321 and an adjustment unit 322 . Wherein, the trajectory planning unit 321 is used to plan the motion trajectory of the robotic arm 220 according to the target pose and current pose of the robotic arm 220, or plan the motion trajectory according to the target pose and current pose of the support device 100. The motion trajectory of the support device 100; the adjustment unit 322 is used to control each of the mechanical arms 220 to adjust the motion according to the motion trajectory according to the planned motion trajectory of the mechanical arm 220, and to control the support The device 100 follows the motion trajectory of the mechanical arm 220 to perform a corresponding movement, or controls the support device 100 to adjust the motion according to the motion trajectory according to the planned motion trajectory of the support device 100, and controls the mechanical arm 220 to follow the The movement trajectory of the support device 100 described above performs a corresponding movement.

Furthermore, the trajectory planning unit 321 is used to plan the motion trajectory of each joint of the mechanical arm 220 according to the target position and the current position of each joint of the mechanical arm 220; or according to each joint of the support device 100 The target position and the current position of the joints are used to plan the motion trajectory of each joint of the support device 100 .

Further, the trajectory planning unit 321 is used to obtain the mechanical The motion trajectory of the arm 220 (the motion trajectory of each joint of the mechanical arm 220); or according to the target pose and current pose of the support device 100 (the target position and current position of each joint of the support device 100) , using an interpolation algorithm to obtain the motion track of the support device 100 (the motion track of each joint of the support device 100 ).

Please refer to FIG. 15 , which schematically shows a schematic diagram of a measurement principle of a positioning device provided by an embodiment of the present invention. As shown in Figure 15, the positioning device 400 is a binocular camera, that is, in this embodiment, the positioning device 400 obtains the robot coordinate system (X2, Y2, Z2) and the world coordinate system ( The mapping relationship between X0, Y0, Z0) and the real-time mapping relationship between the supporting device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0). The support body 120 of the support device 100 is provided with a plurality of first markers 130, further, in order to improve the measurement accuracy, a plurality of the first markers 130 may also be provided on the base 110 of the support device, The robot base 210 is provided with a plurality of second markers 240, and the image of the plurality of first markers 130 can be acquired through the binocular camera, so that the image of the plurality of first markers 130 in the world can be obtained. Coordinates in the coordinate system (X0, Y0, Z0), and then according to the mapping relationship between the plurality of first markers 130 and the coordinate system (X1, Y1, Z1) of the support device, the coordinates of the support device can be obtained The mapping relationship between the system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0). Similarly, by acquiring images of the plurality of second markers 240 through the binocular camera, the coordinates of the plurality of second markers 240 in the world coordinate system (X0, Y0, Z0) can be acquired, and then According to the mapping relationship between the plurality of second markers 240 and the robot coordinate system (X2, Y2, Z2), the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0 , Y0, Z0) mapping relationship between.

It should be noted that, as those skilled in the art can understand, in other embodiments, the positioning device 400 can also be based on commonly used position measurement methods such as monocular vision measurement, optical tracking measurement, or electromagnetic measurement. , to obtain the mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) and the support device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0 , Z0), which is not limited in the present invention.

Further, when the adjustment movement of the robotic arm 220 and the support device 100 is completed, the system will save the adjusted pose of the robotic arm 220 and the pose of the support device 100 to end the entire automatic adjustment process. Thus, by saving the adjusted pose of the robotic arm 220 and the pose of the support device 100, the robotic arm 220 and the support device 100 can be directly restored to the saved pose in the subsequent operation. pose.

As shown in FIG. 14 , the processor further includes a state judging module 330, and the state judging module 330 is used to judge whether the current state of the surgical robot system is suitable for adjusting the mechanical arm 220 and the supporting device 100 sports. Specifically, when a user (such as a medical staff) sends an automatic adjustment instruction to the controller 300 through a physical button on the surgical robot system or a virtual button on the interactive interface (that is, after the controller 300 receives the user instruction) , in order to ensure the safety during the automatic adjustment process, before entering the automatic adjustment process, the state judging module 330 will perform a number of safety checks to judge whether the current state of the surgical robot system is suitable for the mechanical arm 220 and the support device 100 If the judgment result is yes, the automatic adjustment movement of the supporting device 100 and the mechanical arm 220 is performed. If the determination result is negative, the automatic adjustment request of the user (such as a medical staff) will be prohibited, and the automatic adjustment process will end directly. In order to facilitate users (such as medical staff) to know in time, under the control of the controller 300, the surgical robot system will provide users (such as medical staff) with several pieces of explanatory information, or give feedback in the form of sound and light alarms .

As shown in FIG. 14 , the processor further includes a monitoring module 340 configured to monitor the adjustment movement of each of the mechanical arms 220 and the supporting device 100 .

As shown in FIG. 13 , the adjustment system further includes a display device 500 communicatively connected with the controller 300, and the display device 500 is used to monitor the real-time adjustment movement process of the mechanical arm 220 and the support device 100. show. Thus, through the display device 500, the adjustment movement process of the mechanical arm 220 and the support device 100 can be displayed in real time, and the displayed content is shown in the right box in FIG. 16, for example. In addition, the user ( For example, medical staff) can also observe the images taken by the endoscope installed on the mechanical arm 220 through the display device 500, and the display content is shown in the left box in Figure 16, so as to prevent it from being installed on the Instrument 230 on robotic arm 220 injures patient tissue.

It should be noted that the readable storage medium in the embodiments of the present invention may use 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 electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connection with one or more wires, portable computer hard disk, hard disk, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. As used herein, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

Computer program code for carrying out the operations of the present invention may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, including conventional Procedural programming language-such as "C" or a similar programming language. 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 cases involving a remote computer, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via an Internet connection using an Internet service provider). ).

To sum up, compared with the prior art, the readable storage medium, surgical robot system and adjustment system provided by the present invention have the following advantages: the present invention obtains the target pose of the robotic arm of the robot first, and then The arm performs an adjustment movement to adjust the pose of the robotic arm to the target pose, and during the adjustment process of the robotic arm, control the supporting device to follow the corresponding movement of the robotic arm; or obtain the supporting device first The target pose of the support device is adjusted, and then the support device is adjusted to adjust the pose of the support device to the target pose, and during the adjustment process of the support device, the mechanical arm of the robot is controlled to follow the support The device moves accordingly. It can be seen that the present invention can realize the adjustment of the position of the patient (that is, the position of the support device) and the position of the mechanical arm without withdrawing the instrument, thereby completing the operation more efficiently and safely, and reducing the need for preoperative The requirements for the location of the punching hole and the positioning of the equipment can effectively reduce the preoperative preparation time, and can effectively avoid the probability of collision of the robotic arm.

It should be noted that the devices and methods disclosed in the embodiments herein may also be implemented in other ways. The device embodiments described above are only illustrative, for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and operations of possible implementations of devices, methods and computer program products according to multiple embodiments herein . In this regard, each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code that includes one or more programmable components for implementing specified logical functions. Executable instructions, the module, program segment or part of the code contains one or more executable instructions for realizing the specified logic function. 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 in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It is also to be noted that each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in special purpose hardware-based systems that perform the specified functions or actions. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.

In addition, the functional modules in the various embodiments herein can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosures shall fall within the protection scope of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is also intended to include these modifications and variations, provided they fall within the scope of the present invention and its equivalent technologies.

Claims (15)

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;

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.

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

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

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;

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

creating a safety space according to the current position of the stationary 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.

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;

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 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;

planning the motion trail 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.

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;

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.

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:

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;

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 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.

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

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 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;

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.

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

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

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

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

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

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

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.

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