CN115429440A

CN115429440A - Method for adjusting fixed point in operation, readable storage medium and surgical robot system

Info

Publication number: CN115429440A
Application number: CN202110615540.0A
Authority: CN
Inventors: 蒋友坤; 何超; 袁帅
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 an intraoperative motionless point adjusting method, a readable storage medium and a surgical robot system, wherein the intraoperative motionless point adjusting method comprises the following steps: one of the supporting device and the mechanical arm is used as a leading adjusting object, and the other one is used as a flank adjusting object; the mechanical arm is used for driving the connected instrument to move through the fixed point; adjusting the pose of the leading adjustment object to adjust the pose of the stationary point; the flank is adjusted following the pose adjustment of the master adjustment object from the pose of the adjustment object so that the pose of the motionless point relative to the support device remains unchanged. By the configuration, through the posture adjustment of the leading adjustment object, the posture of the flank follow adjustment object is adjusted along with the posture adjustment of the leading adjustment object, and the posture of the fixed point relative to the supporting device can be kept unchanged. Under the condition of not interrupting the operation, the posture adjustment in various operations can be effectively met, and the efficiency and the safety of the operation robot are improved.

Description

Method for adjusting fixed point in operation, readable storage medium and surgical robot system

Technical Field

The invention relates to the technical field of robot-assisted surgery, in particular to an intraoperative motionless point adjusting method, a readable storage medium and a surgical robot system.

Background

The appearance of surgical robots is in line with the development trend of precision surgery. Surgical robots have become powerful tools to assist physicians in performing surgery, and a variety of surgical robots suitable for different indications have been developed in multiple departments and in multiple fields.

The design concept of the surgical robot is to perform a complex surgical operation precisely and dexterously in a minimally invasive manner, with high precision and high safety. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitation of human eyes, and the internal organs are more clearly displayed to an operator by adopting a three-dimensional imaging technology. In the original area that the hand can not stretch into, the arm can accomplish 360 degrees rotations, move, swing or centre gripping to can avoid the shake. The patient has small wound, less bleeding and quick recovery, greatly shortens the hospitalization time after the operation, can obviously improve the survival rate and the recovery rate after the operation, is favored by doctors and patients, is taken as a high-end medical instrument at present, and is widely applied to various clinical operations.

Different from the traditional laparoscopic surgery, the surgical robot system is provided with an immobile point mechanism which can ensure that a doctor can enable the motion of a mechanical arm to move around an immobile point in the surgical process, the immobile point can coincide with a surgical hole in the abdominal cavity of a patient, the mechanical arm can not cause damage to the patient in the motion process, the existence of the immobile point also causes the limitation of the operation space of an instrument of the surgical robot, the mechanical volume of the surgical robot is several times to dozens of times of that of a common endoscopic instrument, interference can also exist among the mechanical arms, the operable range of the instrument is further reduced, when the immobile point of the surgical robot system is matched with the surgical hole of the patient, the position of the surgical robot and the position of the patient can not be adjusted any more, otherwise, the immobile point can move to cause damage to the patient, the above characteristics provide very high requirements for the drilling position before the surgical robot surgery, if the perforating position can not be reasonably arranged, the motion space of the mechanical arm is limited, the operation is influenced, the operation can not be completed seriously, the endoscope is needed to be separated from the surgical robot, the perforation position before the surgical robot is separated from the surgical robot, the patient, the whole surgical robot can not be matched with the operation space, the operation space of the surgical robot, the patient can not be reduced, and the monitoring time can not be reduced, and the operation of the patient can not be caused.

The preoperative preparation time of current surgical robot operation is longer, and the selection of punching is high to the dependency of experience, and has the difference because of different patients, and very easily causes the position of punching improper, leads to the operation process to progress unsmoothly or need to interrupt the adjustment position, and more serious meeting leads to needing to carry out the hole site again and selects, causes the unnecessary injury to the patient. Therefore, a method for adjusting the body position without interrupting the operation is urgently needed to meet the requirement that the current surgical robot cannot meet the operation requirement, so that the efficiency and the safety of the operation of the surgical robot are improved.

Disclosure of Invention

The invention aims to provide an adjustment method of an immobile point in an operation, a readable storage medium and a surgical robot system, so as to solve the problem that the position of the surgical robot and the body position of a patient cannot be efficiently adjusted in the operation of the conventional surgical robot system.

In order to solve the above technical problem, according to a first aspect of the present invention, there is provided a method for adjusting an intra-operative motionless point, comprising:

one of the supporting device and the mechanical arm is used as a leading adjusting object, and the other one is used as a flank adjusting object; the mechanical arm is used for driving the connected instrument to move through the fixed point;

adjusting the pose of the leading adjustment object to adjust the pose of the stationary point;

the flank is adjusted following the pose adjustment of the master adjustment object from the pose of the adjustment object so that the pose of the motionless point relative to the support device remains unchanged.

Optionally, the pose of the dominant adjusted object is adjusted according to a preset expected operation pose.

Optionally, the step of adjusting the pose of the secondary adjustment object following the pose adjustment of the primary adjustment object includes:

obtaining a first expected pose of the leading adjustment object according to the preset expected operation pose, and further obtaining an expected motionless point pose;

planning a first adjustment path of the leading adjustment object in combination with the first expected pose based on a first current pose of the leading adjustment object at present;

and obtaining a second adjusting path of the secondary adjusting object according to the first adjusting path and the current motionless point pose, and adjusting the pose of the secondary adjusting object according to the second adjusting path.

Optionally, after obtaining a second adjustment path of the flank slave adjustment object, the method for adjusting the intra-operative motionless point further includes:

demonstrating the first adjustment path and/or the second adjustment path through a display device.

Optionally, the pose of the dominant adjustment object is actively adjusted in real time.

Optionally, the step of actively adjusting the pose of the dominant adjustment object in real time includes:

the pose of the leading adjusting object is adjusted according to the received adjusting instruction; alternatively, the first and second electrodes may be,

and the pose of the leading adjusting object is adjusted according to the external force.

acquiring pose change information of the motionless point which changes in real time based on pose adjustment of the leading adjustment object;

and adjusting the pose of the slave adjustment object based on the pose change information of the fixed point.

Optionally, when the mechanical arms are used as a leading adjustment object and the supporting device is a flank adjustment object, if the number of the mechanical arms is greater than two, two of the mechanical arms are determined as active adjustment ends in the leading adjustment object, and the rest of the mechanical arms are determined as passive adjustment ends in the leading adjustment object; the pose of the active adjusting end is actively adjusted in real time, and the pose of the passive adjusting end is adjusted along with the pose adjustment of the active adjusting end.

Optionally, the method for adjusting the intraoperative motionless point further includes:

and establishing an environment coordinate system, and converting and unifying the support device coordinate system and the surgical robot coordinate system where the mechanical arm is located to the environment coordinate system.

acquiring body surface information of a predetermined object placed on the supporting device;

establishing a safety region based on the body surface information, and associating position information of the safety region with position information of the support device;

and the pose adjustment of the mechanical arm avoids the safe area.

Optionally, the method for establishing the secure area includes:

acquiring point cloud data obtained by abutting a target on the body surface of a preset object by using a positioning device;

and fitting to obtain the safety region based on the point cloud data.

Optionally, the method for establishing the secure area includes:

acquiring shape data obtained by covering a body surface of a predetermined object by using an optical fiber shape sensor;

fitting to obtain the safety region based on the shape data.

Optionally, after the step of adjusting the pose of the flank slave adjustment object following the pose adjustment of the master adjustment object, the method for adjusting the intra-operative motionless point further includes:

adjusting the mechanical arm to an expected pose according to the pose adjusted by the mechanical arm;

and matching the adjusted pose of the mechanical arm with the operation pose of the control arm of the doctor control end.

In order to solve the above technical problem, according to a second aspect of the present invention, there is also provided a readable storage medium on which a program is stored, the program implementing the method for adjusting the fixed point as described above when executed.

In order to solve the above technical problem, according to a third aspect of the present invention, there is also provided a surgical robot system including: a support device, a robotic arm, and a master controller, one of the support device and the robotic arm configured to master an adjustment object and the other configured to slave the adjustment object, the robotic arm for driving movement of a connected instrument through a fixed point;

the master controller is configured to control the pose of the flank slave adjustment object to follow the pose adjustment of the master adjustment object according to the method for adjusting the motionless point as described above, so that the pose of the motionless point with respect to the supporting means is kept constant.

In summary, in the method for adjusting an intra-operative motionless point, the readable storage medium and the surgical robot system provided by the present invention, the method for adjusting an intra-operative motionless point includes: one of the supporting device and the mechanical arm is used as a leading adjusting object, and the other one is used as a flank adjusting object; the mechanical arm is used for driving the connected instrument to move through the fixed point; adjusting the pose of the leading adjustment object to adjust the pose of the stationary point; the flank is adjusted following the pose adjustment of the master adjustment object from the pose of the adjustment object so that the pose of the motionless point relative to the support device remains unchanged.

By the configuration, through the posture adjustment of the leading adjustment object, the posture of the flank follow adjustment object is adjusted along with the posture adjustment of the leading adjustment object, and the posture of the fixed point relative to the supporting device can be kept unchanged. Under the condition of not interrupting the operation, the posture adjustment in the art can be carried out so as to satisfy the condition that the instrument need not to withdraw from when the mechanical arm motion space is limited or the operation hole position is not ideal enough, just can effectively satisfy posture adjustment in various operations, it improves the efficiency and the security of operation robot operation, preparation time before having reduced has effectively compensatied the risk and the defect of current operation of punching, improves the accurate nature of operation, reduces patient's pain, improves recovery efficiency.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a surgical scene of a surgical robotic system to which the present invention relates;

FIG. 2 is a flow chart of the general steps involved in surgical planning;

FIG. 3 is a schematic illustration of the environmental coordinate system set-up of a surgical scene to which the present invention relates;

FIGS. 4a and 4b are schematic views of the surgical scene setup involved in the present invention;

FIG. 5 is a schematic view of surgical aperture creation to which the present invention relates;

FIG. 6 is a schematic view of a patient-end surgical platform to which the present invention relates;

FIG. 7a is a schematic diagram of the establishment of a secure area by a locating device in accordance with the present invention;

FIG. 7b is a schematic representation of establishing a safety zone with a fiber optic shape sensor in accordance with the present invention;

FIG. 8 is a schematic representation of a robot according to the present invention prior to adaptation;

FIG. 9 is a schematic illustration of a robot to which the present invention relates after adaptation;

FIG. 10 is a flowchart illustrating a method for adjusting an intra-operative motionless point according to a first embodiment of the present invention;

FIG. 11 is a schematic diagram of a first embodiment of the present invention before the adjustment of the motionless point during operation;

FIG. 12 is a schematic view of an intraoperative fixed point adjustment according to a first embodiment of the present invention;

FIG. 13 is a flowchart of a method for adjusting an intra-operative motionless point according to a second embodiment of the present invention;

in the drawings:

10-a main controller; 100-doctor end control device; 101-main operator; 102-an imaging device; 103-a foot-operated surgical control device;

200-a patient-side control device; 201-a base; 210-a robotic arm; 211-an adjusting arm; 212-a tool arm; 220-an instrument; 221-surgical instruments; 222-an endoscope;

300-an image trolley; 302-a display device; 400-a support device; 410-patient; 411-surgical foramen; 500-secure area; 510-an operating space; 520-focal zone; 610-a positioning device; 620-target; 630-fiber optic shape sensor.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings are intended to show different emphasis, sometimes in different proportions.

As used in this specification, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in its sense including "and/or," the terms "a" and "an" are generally employed in their sense including "at least one," the terms "at least two" are generally employed in their sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of such features, the term "proximal" generally being the end near the operator, the term "distal" generally being the end near the patient, i.e. near the lesion, the terms "end" and "proximal" and "distal" generally referring to the corresponding two parts, which include not only the end points, the terms "mounted", "connected" and "connected" being to be understood in a broad sense, e.g. as being fixedly connected, as well as detachably connected, or as an integral part; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in this specification, an element being disposed on another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and should not be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below, or to one side of another element, unless the content clearly dictates otherwise. The specific meanings of the above terms in the present specification can be understood by those of ordinary skill in the art as appropriate.

The invention aims to provide an adjustment method of an immobile point in an operation, a support device immobile point follow-up adjustment system, an adjustment method of a surgical robot, a readable storage medium and the surgical robot system, so as to solve the problem that the position of the surgical robot and the body position of a patient cannot be efficiently adjusted in the operation of the conventional surgical robot system.

The following description refers to the accompanying drawings.

Referring to fig. 1 to 9, fig. 1 is a schematic view of a surgical scene of a surgical robot system according to the present invention; FIG. 2 is a flow chart of the general steps involved in surgical planning; FIG. 3 is a schematic illustration of the environmental coordinate system set-up of a surgical scene to which the present invention relates; FIGS. 4a and 4b are schematic views of the surgical scene setup involved in the present invention; FIG. 5 is a schematic illustration of the creation of a surgical aperture in accordance with the present invention; FIG. 6 is a schematic view of a patient-end surgical platform to which the present invention relates; FIG. 7a is a schematic illustration of the establishment of a secure area by a positioning device in accordance with the present invention; FIG. 7b is a schematic illustration of establishing a safety zone with an optical fiber shape sensor in accordance with the present invention; FIG. 8 is a schematic representation of a robot according to the present invention before adaptation; fig. 9 is a schematic diagram of the robot according to the present invention after adaptation.

Fig. 1 shows an application scenario of a surgical robot system including a master-slave teleoperated surgical robot, that is, the surgical robot system includes a doctor-side control device 100, a patient-side control device 200, a master controller 10, and a supporting device 400 (e.g., an operating bed) for supporting a surgical object to perform an operation. It should be noted that in some embodiments, the support device 400 may be replaced with other surgical platforms, and the present invention is not limited thereto.

The surgeon side control apparatus 100 is an operation side of a teleoperation surgical robot, and includes a main manipulator 101 mounted thereon. The main operator 101 is used for receiving hand motion information of an operator as a motion control signal input of the whole system. Optionally, the master controller 10 may also be disposed on the doctor end control device 100. Preferably, the doctor-side control apparatus 100 further includes an imaging device 102, and the imaging device 102 can provide a stereoscopic image for an operator and provide surgical operation information for the operator to perform a surgical operation. The operation information includes the type and number of the surgical instruments, the pose in the abdomen, the shape and arrangement of the organ tissues of the patient and the blood vessels of the surrounding organ tissues, and the like. Optionally, the doctor-side control apparatus 100 further includes a foot-operated operation control device 103, and the operator can also complete input of relevant operation instructions such as electrosection, electrocoagulation and the like through the foot-operated operation control device 103.

The patient-side control device 200 is a specific implementation platform for teleoperated surgical robots and includes a base 201 and surgical implementation components mounted thereon. The surgical performing assembly includes a robot arm 210 and an instrument 220, and the instrument 220 includes a surgical instrument 221 (such as a high-frequency electric knife, etc.) for performing a specific surgery, an endoscope 222 for assisting observation, and the like. In one embodiment, the robotic arm includes an adjustment arm 211 and a working arm 212. The tool arm 212 is a mechanical fixed point mechanism for driving the instrument 220 to move around the mechanical fixed point and perform corresponding operations, so as to perform minimally invasive surgical treatment on the patient 410 on the support device 400. The adjustment arm 211 is used to adjust the position of the stationary point of the machine in the working space. In another embodiment, the robotic arm 210 is a mechanism having a spatial configuration with at least six degrees of freedom for driving the instrument 220 about an active motionless point under program control. The instrument 220 is used to perform a specific surgical procedure, such as a clipping, incision, scissors, etc., or to assist in a procedure, such as a filming, etc. It should be noted that, in practice, the "motionless point" is understood to be a motionless area, since the instrument 220 has a certain volume. Of course, the skilled person will understand the "fixed point" according to the prior art.

The master controller 10 is in communication connection with the doctor-side control device 100 and the patient-side control device 200 respectively, and is used for controlling the movement of the operation executing component according to the movement of the master manipulator 101. Specifically, the main controller 10 includes a master-slave mapping module, which is configured to obtain the end pose of the main manipulator 101 and a predetermined master-slave mapping relationship, obtain a desired end pose of the surgical executing assembly, and further control the mechanical arm 210 to drive the instrument 220 to move to the desired end pose. Further, the master-slave mapping module is further configured to receive an instrument function operation instruction (e.g., an electrical excision, electrocoagulation, and other related operation instructions), and control the energy driver of the instrument 220 to release energy to implement an electrical excision, electrocoagulation, and other surgical operations.

Further, the medical robot system further includes an image trolley 300. The image carriage 300 includes: an endoscope processor (not shown) is communicatively connected to the endoscope 222. The endoscope 222 is used to acquire surgical operation information in a cavity (which refers to a body cavity of a patient). The endoscope processor is configured to perform imaging processing on the surgical operation information acquired by the endoscope 222, and transmit the imaging device 102 to facilitate the operator to observe the surgical operation information. Optionally, the image trolley 300 further comprises a display device 302. The display device 302 is communicatively coupled to the endoscope processor for providing real-time display of surgical procedure information to an operator (e.g., a nurse) for assistance.

In operation, an operator (e.g., a master operator) sits in front of the surgeon-side control apparatus 100 located outside the sterile field, observes the returned surgical operation information through the imaging device 102, and controls the surgical execution assembly and the laparoscope movement by manipulating the master operator hand 101 to complete various surgical operations.

Referring to fig. 2, an application scenario of the surgical robot system according to the present invention will be exemplarily described. Before the surgical robot system is used for adjusting the fixed point or the patient-side control device, the method can comprise the following steps:

step SO1: establishing a surgical scene, and converting and unifying a support device coordinate system and a surgical robot coordinate system where the mechanical arm 210 is located into an environment coordinate system; alternatively, the posture of the support device 400 and the posture of the robot arm 210 are expressed based on the environment coordinate system. Referring to fig. 3, in an exemplary embodiment, for example, an environment coordinate system (X0, Y0, Z0) may be established for a surgical scene, and the surgical robot coordinate system (X1, Y1, Z1) and the support device coordinate system (X2, Y2, Z2) are unified into the environment coordinate system (X0, Y0, Z0), so as to realize the coordinate unification of the surgical scene, establish a position relationship between the support device coordinate and the surgical robot coordinate, and provide a coordinate transformation relationship for the subsequent adjustment of the support device 400, which causes the change of the surgical hole position of the patient and the change of the motionless position of the patient-side control device 200. Establishing the surgical scene is the first step in the adjustment of the motionless point during the operation, and in one example, the establishment of the relative position relationship between the patient-side control device 200 and the support device 400 can be performed by a positioning device 610 (e.g., a binocular vision device) and a target 620. The step of establishing the surgical scene is shown in fig. 4a, and mainly includes:

step SP1: establishing an environment coordinate, namely establishing coordinates (X0, Y0 and Z0) of the environment where the patient-side control device 200 and the supporting device 400 are located through the positioning device 610, and unifying the coordinates of all systems;

step SP2: establishing the coordinates of the patient-side control device: for the form of the surgical robot with the mechanical arm 210 fixed to the patient-side control device 200, coordinate recognition is performed on the patient-side control device 200 in the environment coordinate system (X0, Y0, Z0) by the positioning device 610, so as to determine the position of the patient-side control device 200 in the environment coordinate system (X0, Y0, Z0), and then further determine the position of the motionless point of the surgical robot system in the environment coordinate system;

step SP3: establishing coordinates of the supporting device: the coordinate recognition of the supporting device 400 in the environment coordinate system is performed through the positioning device 610, so as to determine the position of the supporting device 400 in the environment coordinate system, and then further determine the position change coordinate and the change path of the surgical hole of the patient caused by the adjustment of the supporting device 400;

step SP4: establishing the coordinates of the fixed point: as shown in fig. 5, after the patient 410 is placed on the supporting device 400 and the surgical hole 411 is established, the surgical hole 411 on the body surface of the patient 410 is subjected to coordinate recognition under the environment coordinate system by the positioning device 610 to determine the position of the surgical hole 411 under the environment coordinate system.

Step SP5: and (3) coordinates are unified, after the establishment of the environment coordinates in the step SP1, the establishment of the patient side control device coordinates in the step SP2, the establishment of the supporting device coordinates in the step SP3 and the establishment of the fixed point coordinates in the step SP4 are completed, the coordinate system is unified, the coordinates of the patient side control device 200, the supporting device 400 and the operation hole 411 of the patient 410 are unified, and the coordinate system is unified in the unified coordinate system when the intraoperative adjustment is realized.

Depending on the different types of surgical robots, different embodiments of establishing the environment coordinates exist, such as another embodiment, in which the support device 400 is connected with the patient-side control device 200, as shown in fig. 6, to form a unified patient-side surgical platform. It is understood that the coordinate recognition of the patient-side control device 200 and the support device 400 may not be required, and is integrated as step SP6: and establishing the coordinates of the patient-end operation platform. The flow chart of the steps for establishing the surgical scene is shown in fig. 4 b. Of course, the present invention is not limited to the above-mentioned coordinate identification and establishment method, and those skilled in the art may select other coordinate identification and establishment methods according to the actual situation.

With continued reference to fig. 2, step SO2: and (4) punching, wherein an operator selects the position of the operation hole according to the position of the focus and executes punching operation.

Step SO3: and (3) identifying the fixed point, and identifying the operation hole on the patient body by a certain technical means after punching is finished so as to obtain the coordinate of the operation hole in the environment coordinate system. For example, identification of the surgical aperture coordinates may be accomplished by the positioning device 610 and the target 620. This operation hole coordinate can be updated along with strutting arrangement 400's adjustment, and the operation hole coordinate can match with patient end controlling means 200's motionless point coordinate, and then monitors the matching degree to the matching nature of motionless point in the assurance art, thereby the safety of assurance operation.

Further, in order to ensure the rationality of stationary point identification, the embodiment provides two different specific identification schemes:

the first fixed point identification scheme: identifying, by the positioning device 610, the stationary point in an environment coordinate system: after the surgical hole 411 is established, the target 620 is used for carrying out coordinate recognition on the surgical hole 411, specifically, the target 620 is connected with the supporting device 400 system, and under the condition that the relative position of the patient 410 and the supporting device 400 is fixed, the change of the coordinate of the fixed point is only caused by the movement of the supporting device 400.

In the second embodiment of stationary point identification, the stationary point is identified in real time in the environment coordinate system by the positioning device 610: the recognition target 620 is fixed on the position of the operation hole 411 of the patient 410 in a certain way (such as adhesion), and the coordinate position of the coordinate in the environment coordinate system is recognized in real time, and the change of the target 620 is caused by the real-time state of the supporting device 400 and the patient 410, so that the coordinate of the position of the operation hole 411 of the patient 410 can be more accurately judged.

Optionally, in some embodiments, the method further includes step SO4: and establishing a safe area 500, finishing the establishment of coordinates of the patient area after the patient finishes the fixation with the supporting device 400, and avoiding the collision of the mechanical arm 210 with the patient in the operation process and the adjustment process in the operation process so as to ensure the safety of the patient. Specifically, the establishment of the security area 500 may include the following steps: step SO41: acquiring body surface information of a predetermined object (such as a patient 410) placed on the supporting device 400; step SO42: establishing a safety region 500 based on the body surface information, and associating position information of the safety region 500 with position information of the support device 400; the pose adjustment of the robot arm 210 avoids the safety region 500. In practice, the safety area 500 is a region outside the patient and a certain range of the patient, and the robot arm 210 should avoid the safety area 500 to avoid injury to the patient during adjustment.

Referring to fig. 7a, in an alternative embodiment, the establishment of the safety zone may be implemented by the positioning device 610 and the target 620, and the method for establishing the safety zone includes: acquiring point cloud data obtained by abutting the target 620 on the body surface of the predetermined object by using the positioning device 610; and fitting to obtain the safety region based on the point cloud data. Referring to fig. 7b, in another alternative embodiment, the establishment of the safety zone may also be implemented by using the optical fiber shape sensor 630, and specifically, the method for establishing the safety zone includes: shape data obtained by obtaining a body surface cover of a predetermined object by using the optical fiber shape sensor 630; fitting to obtain the safety region based on the shape data.

Step SO5: and adjusting the fixed point, namely adjusting the fixed point in the operation process, so that the operation space of the surgical robot meets the operation requirement.

Optionally, in some embodiments, the method further includes step SO6: and (4) robot adaptation, namely after the fixed point adjustment in the step SO5 is finished, adjusting the mechanical arm 210 to an expected pose according to the pose adjusted by the mechanical arm 210. Specifically, the mechanical arm 210 adjusts its posture to an expected posture, such as an appropriate ideal posture, according to the focal position, the motionless point posture, the safe area, and the relative position of the mechanical arm 210, so as to facilitate operation. In practice, after the fixed point adjustment in step SO5 is completed, the operation posture of the robot arm 210 is not necessarily in a state convenient for operation, and at this time, as shown in fig. 8 and 9, a step of robot adaptation may be performed, and the robot arm 210 is adjusted to a position where the instrument 220 is properly operated. Further, after the robot arm 210 is adjusted to a proper pose, the current pose of the robot arm 210 and the operation pose of the control arm (i.e., the main manipulator 101) of the doctor control end (i.e., the doctor end control device 100) can be matched, so that the control arm of the doctor control end updates the pose and is matched with the current pose of the robot arm 210, and the operation pose of the control arm and the current pose of the robot arm 210 generate a corresponding relationship.

Based on the description of the background art, it can be known that, in a general surgical robot system, after an immobile point of the surgical robot system is matched with an operation hole of a patient, the position of the surgical robot and the position of the patient cannot be adjusted any more, otherwise, the immobile point position is moved, and the patient is injured. Therefore, the invention provides a plurality of embodiments to solve the problem that the body position of the patient is difficult to adjust in the operation.

[ EXAMPLES one ]

Please refer to fig. 10 to 12, wherein fig. 10 is a flowchart illustrating a method for adjusting an intra-operative fixed point according to a first embodiment of the present invention; FIG. 11 is a schematic diagram of a first embodiment of the present invention before the adjustment of the motionless point during operation; fig. 12 is a schematic diagram of the first embodiment of the present invention after the adjustment of the motionless point during the operation.

Referring to fig. 10, an embodiment of the present invention provides a method for adjusting an intra-operative fixed point, including:

step SA1: one of the support device 400 and the robot arm 210 is used as a leading adjustment object, and the other is used as a flank adjustment object; the robotic arm 210 is used to drive the attached instrument 220 through a fixed point of motion;

step SA2: adjusting the pose of the leading adjustment object to adjust the pose of the stationary point;

step SA3: the flank is adjusted from the pose of the adjustment object to follow the pose adjustment of the master adjustment object so that the pose of the motionless point with respect to the support means 400 remains unchanged.

Referring to fig. 11 and 12, in general, the fixed positional relationship between the patient and the support device 400 is constant during the operation, and the motionless point coincides with the surgical hole on the surface of the patient (the motionless point is defined at the surgical hole), so it can be understood that the instrument 220 moves through the motionless point, i.e., does not move relative to the patient without causing injury to the patient, as long as the pose of the motionless point relative to the support device 400 remains constant. Based on the above steps SA1 to SA3, the pose of the secondary adjustment object is adjusted following the pose adjustment of the primary adjustment object by the pose adjustment of the primary adjustment object, and the pose of the immobile point with respect to the support device 400 can be kept unchanged. Under the condition of not interrupting the operation, the posture adjustment in the art can be carried out in order to satisfy the condition such as the arm 210 motion space is limited or the operation hole position is ideal inadequately because of current operation robot position and patient position relation, and need not to withdraw from apparatus 220 during the adjustment, can effectively satisfy posture adjustment in various art, improve the efficiency and the security of operation robot operation, the preoperative preparation time has been reduced, effectively compensate the risk and the defect of current operation of punching, improve the accurate nature of operation, reduce patient's wound and pain, improve recovery efficiency.

In the first embodiment, step SO5 can be implemented by performing steps SA1 to SA3 as shown in fig. 10.

Further, in the method for adjusting an intraoperative motionless point provided by the embodiment, the method includes that the main adjustment object is adjusted according to two schemes of preset adjustment and real-time adjustment.

In some embodiments, the pose of the dominant adjustment object is adjusted according to a preset desired operational pose. The expected operation pose can be preset through specification or pre-planning.

In step SA3, the step of adjusting the pose of the slave adjustment object following the pose adjustment of the master adjustment object includes:

step SA31: resolving a first expected pose and an expected motionless point pose of the dominant adjustment object: obtaining a first expected pose of the leading adjustment object according to the preset expected operation pose, and further obtaining an expected motionless point pose;

step SA32: adjusting path planning: planning a first adjustment path of the leading adjustment object in combination with the first expected pose based on a first current pose of the leading adjustment object at present;

step SA33: leading the adjustment object to adjust, and following the adjustment object: and obtaining a second adjusting path of the secondary adjusting object according to the first adjusting path and the current motionless point pose, and adjusting the pose of the secondary adjusting object according to the second adjusting path.

The following describes an example of taking the support device 400 as a leading adjustment object, and specifically describes a process of preset automatic adjustment in which the support device 400 is leading and the mechanical arm 210 follows.

Before step SA31, step SA30 may also be included: and presetting an expected operation pose. The endoscope 222 can see the focus, so that a desired operation pose of the instrument 220 can be obtained, the distance sensor on the endoscope 222 can be combined with the position of the endoscope 222 in the environment coordinate system to obtain the coordinates of the desired operation pose in the environment coordinate system, or the position of the focus in the environment coordinate system can be determined through the intra-abdominal environment modeling before the operation, so that the desired operation pose of the instrument 220 can be determined.

In step SA31, the process of acquiring the expected motionless point pose may, for example, obtain the first expected pose of the supporting apparatus 400 by calculating the coordinates of the expected operation pose of the known instrument 220, and further obtain the expected motionless point pose by calculating the first expected pose of the supporting apparatus 400.

In step SA32, the first expected pose and the expected motionless point pose of the supporting apparatus 400 can be obtained through step SA31, and a first adjustment path of the supporting apparatus 400 is planned in combination with the current pose of the supporting apparatus 400; further, in step SA33, the first adjustment path may be used to calculate an adjustment path of the fixed point, and further, the second adjustment path of the mechanical arm 210 may be used to calculate a second adjustment path of the mechanical arm 210, so that when the supporting device 400 is adjusted according to the preset adjustment, the mechanical arm 210 follows the adjustment, the fixed point is ensured to move along with the movement of the supporting device 400, and the pose of the fixed point relative to the supporting device 400 is kept unchanged.

Optionally, after obtaining a second adjustment path of the flank slave adjustment object, the method for adjusting the intra-operative motionless point further includes: step SA32a, demonstrating the adjustment path: demonstrating the first adjustment path and/or the second adjustment path through a display device. After the first adjustment path and/or the second adjustment path is obtained, the display device, such as the display device 302 that may include the imaging device 102 and/or the image trolley 300, may display the first adjustment path and/or the second adjustment path on the imaging device 102 of the doctor-side control device 100 and/or the display device 302 of the image trolley 300, and the medical staff further determines whether the planned adjustment path is safe and reasonable. Step SA32a may be performed before step SA 33. After the planned adjustment path is confirmed to be safe and reasonable, the surgical robot system performs adjustment of the support device 400 according to the planned adjustment path, and the mechanical arm 210 moves along with the adjustment path.

Of course, in steps SA31 to SA33, the robot arm 210 may be a leading adjustment target, and the supporting device 400 may be a secondary adjustment target accordingly. In practice, the robot arm 210 is used as the main guide, and the support device 400 follows to perform the preset adjustment of the stationary point.

In other embodiments, the pose of the dominant adjustment object is actively adjusted in real-time. In step SA3, the step of adjusting the pose of the flank slave adjustment object following the pose adjustment of the master adjustment object includes:

and SA34: and (3) real-time adjustment of the dominant adjustment object: acquiring pose change information of the motionless point which changes in real time based on pose adjustment of the leading adjustment object;

SA35: the flank follows from the adjusted subject: and adjusting the pose of the slave adjustment object based on the pose change information of the fixed point.

In the following, the supporting device 400 is also taken as an example of a leading adjustment object, and a process of actively adjusting in real time and following the robot arm 210 by taking the supporting device 400 as a leading object is specifically described.

In step SA34, the pose of the supporting apparatus 400 can be actively adjusted in real time, for example, an operator inputs an adjustment instruction through the doctor side control apparatus 100, the pose of the supporting apparatus 400 is actively adjusted in real time according to the received adjustment instruction, during the adjustment process, the coordinates of the motionless point are correspondingly changed in real time due to the adjustment of the supporting apparatus 400, and based on the constructed environment coordinate system, the pose change information of the motionless point can be obtained by obtaining the real-time coordinates of the motionless point. In other embodiments, the pose of the support apparatus 400 can be adjusted by an operator directly by applying an external force, for example, the operator directly drags the support apparatus 400 to adjust the pose.

In step SA35, based on the pose change information of the motionless point, the robot arm 210 adjusts to follow the motionless point, so as to ensure that the surgical hole of the patient coincides with the motionless point of the robot arm 210, and further, whether the surgical instrument 221 has reached a suitable operation posture can be observed in real time through the endoscope 222.

Of course, in some embodiments, the support apparatus 400 may be adjusted following the robot 210 by actively adjusting the robot 210 in real time. Specifically, in steps SA34 and SA35, the robot arm 210 is used as a leading adjustment object, and active adjustment is performed in real time, and the support device 400 is adjusted in accordance with the pose adjustment of the robot arm 210. It is to be understood that the step of adjusting the pose of the robot arm 210 in real time may be performed by inputting an adjustment instruction through the doctor-side control apparatus 100. Of course, in some other embodiments, the step of adjusting the pose of the mechanical arm 210 in real time may be that the operator applies an external force to the mechanical arm 210 to directly drag the mechanical arm 210 to move, that is, the pose of the mechanical arm 210 is adjusted according to the applied external force.

Further, when the mechanical arms 210 are used as a leading adjustment object and the supporting device 400 is a secondary adjustment object, if the number of the mechanical arms 210 is greater than two, two of the mechanical arms 210 are determined as active adjustment ends in the leading adjustment object, and the rest of the mechanical arms 210 are determined as passive adjustment ends in the leading adjustment object; the pose of the active adjusting end is actively adjusted in real time, and the pose of the passive adjusting end is adjusted along with the pose adjustment of the active adjusting end. Generally, an operator maps the doctor end control device 100 and the two mechanical arms 210 in real time, that is, at the same time, the operator can only control at most two mechanical arms 210, the two mechanical arms 210 are determined as active adjustment ends, the poses of the two mechanical arms 210 can be actively adjusted in real time under the control of the operator, the other mechanical arms 210 are configured as passive adjustment ends, the passive adjustment ends need to be the same as the support device 400, and the mechanical arms 210 of the active adjustment ends are followed to perform follow-up adjustment of the motionless point through the coordinate relationship of the motionless point, so as to ensure that the surgical hole coincides with the motionless point in real time.

Based on the foregoing method for adjusting the motionless point during operation, the present embodiment further provides a readable storage medium, on which a program is stored, wherein the program is executed to implement the method for adjusting the motionless point as described above, and the readable storage medium can be integrated in the surgical robot system, such as the master controller, or can be attached separately. Further, the present embodiment also provides a surgical robot system, which includes: a support apparatus 400, a robotic arm 210, and a master controller 10, one of the support apparatus 400 and the robotic arm 210 configured to master an adjustment object and the other configured to slave an adjustment object, the robotic arm 210 for driving a connected instrument 220 through a motionless point; the master controller 10 is configured to control the pose of the flank slave adjustment object to follow the pose adjustment of the master adjustment object so as to keep the pose of the dead point with respect to the supporting apparatus 400 constant, according to the method of adjusting the dead point as described above.

[ example two ]

The embodiment of the present invention will not be described again for the same parts as the first embodiment, and only different points will be described below.

Please refer to fig. 13, which is a flowchart illustrating a method for adjusting an intra-operative fixed point according to a second embodiment of the present invention.

In the second embodiment, unlike the first embodiment, when adjusting the poses of the supporting device 400 and the robot arm 210, instead of establishing them as the leading adjustment object and the flank adjustment object, respectively, the pose of the supporting device 400 and the pose of the robot arm 210 are adjusted at the same time while obtaining the expected motionless point pose of the motionless point according to the expected operation pose of the instrument 220. Specifically, in the second embodiment, the method for adjusting the intraoperative motionless point includes:

step SB1: calculating the expected motionless point pose: based on the expected operational pose of the instrument 220, an expected motionless point pose of the motionless point is obtained; the stationary point is used for the instrument 220 connected to the robotic arm 210 to pass through and to operate accordingly around the stationary point.

Step SB2: adjusting a supporting device and a mechanical arm: according to the expected motionless point pose, the pose of the supporting device 400 and the pose of the mechanical arm 210 are adjusted, so that the pose of the motionless point relative to the supporting device 400 is kept unchanged.

Preferably, the posture adjustment of the supporting device 400 and the posture adjustment of the mechanical arm 210 are matched in real time, and the two are adjusted synchronously. For example, in one example, if the position of the support apparatus 400 is adjusted by the first distance, the position of the robot arm 210 is also synchronously adjusted by the first distance in real time, so that the pose adjustments of the two are kept matching in real time.

In the second embodiment, the step SO5 can be realized by performing the steps SB1 to SB 2. Optionally, before step SB1, the method for adjusting the intraoperative motionless point further includes: step SB0: and presetting an expected operation pose. The second embodiment provides a method for adjusting the stationary point during operation, which mainly comprises a scheme of adjusting the supporting device 400 and the mechanical arm 210 together according to a preset setting. According to the configuration, firstly, the expected motionless point pose of the motionless point is obtained based on the expected operation pose of the instrument 220, and then the pose of the supporting device 400 and the pose of the mechanical arm 210 are adjusted according to the expected motionless point pose, so that the pose of the motionless point relative to the supporting device 400 is kept unchanged, under the condition of not interrupting the operation, the posture in the operation can be adjusted to meet the conditions that the motion space of the mechanical arm is limited or the position of an operation hole is not ideal and the like due to the position relation between the current operation robot position and a patient, and the instrument does not need to be withdrawn during adjustment, so that various position adjustments in the operation can be effectively met, the efficiency and the safety of the operation robot are improved, the preoperative preparation time is reduced, the risks and the defects of the existing operation punching operation are effectively overcome, the accuracy of the operation is improved, the pain of the patient is reduced, and the recovery efficiency is improved.

In step SB1, the expected motionless point pose is obtained according to a preset expected operation pose. In one example, the endoscope 222 can see the lesion to obtain a desired operation pose of the instrument 220, and the distance sensor on the endoscope 222 can be combined with the position of the endoscope 222 in the environment coordinate system to obtain coordinates of the desired operation pose in the environment coordinate system, or the position of the lesion in the environment coordinate system can be determined by pre-operative abdominal environment modeling to determine the desired operation pose.

Further, the step of adjusting the posture of the supporting device 400 and the posture of the robot arm 210 according to the expected motionless point posture in step SB2 includes:

step SB21: according to a preset expected operation pose, obtaining a first expected pose of the supporting device 400 and a second expected pose of the mechanical arm 210;

step SB22: planning a first adjustment path of the support apparatus 400 in conjunction with the first desired pose based on a first current pose of the support apparatus 400 at the present time; and planning a second adjustment path of the robotic arm 210 in conjunction with the second desired pose based on the current second current pose of the robotic arm 210.

In step SB21, according to the coordinates at which the instrument 220 reaches the desired operation pose, a first desired pose of the support device 400 and a second desired pose of the robot arm 210 can be solved; further, an expected motionless point pose can be calculated by the first expected pose of the supporting device 400 and the second expected pose of the mechanical arm 210.

In step SB22, the first desired pose of the supporting device 400, the second desired pose of the robot arm 210, and the desired motionless point pose can be obtained through step SB21, and the first adjustment path of the supporting device 400 and the second adjustment path of the robot arm 210 can be planned in combination with the current pose of the supporting device 400 and the current pose of the robot arm 210. Therefore, when the supporting device 400 and the mechanical arm 210 are adjusted according to the preset condition, the fixed point is ensured to move along with the movement of the supporting device 400, and the position of the fixed point relative to the supporting device 400 is kept unchanged.

Optionally, after obtaining the first adjustment path and the second adjustment path, the method for adjusting the intra-operative motionless point further includes: demonstrating the first adjustment path and/or the second adjustment path using a display device. After the first adjustment path and/or the second adjustment path are obtained, the first adjustment path and/or the second adjustment path may be displayed on the imaging device 102 of the doctor-side control apparatus 100 and/or the display device 302 of the image trolley 300, and the medical staff further determines whether the planned adjustment path is safe and reasonable. After the medical staff confirms that the planned adjustment path is safe and reasonable, the surgical robot system performs adjustment of the support device 400 and the mechanical arm 210 according to the planned adjustment path.

Based on the foregoing method for adjusting the motionless point during operation, the present embodiment further provides a readable storage medium, on which a program is stored, wherein the program is executed to implement the method for adjusting the motionless point as described above, and the readable storage medium can be integrated in the surgical robot system, such as the master controller, or can be attached separately. Further, the present embodiment also provides a surgical robot system, which includes: a support apparatus 400, a robotic arm 210, and a master controller 10, the robotic arm 210 for driving movement of an attached instrument 220 through a fixed point; the main controller is configured to control the supporting device 400 and the robot arm 210 to perform posture adjustment so that the posture of the motionless point with respect to the supporting device 400 remains unchanged, according to the method of adjusting the motionless point as described above.

It should be noted that, the above embodiments are not limited to be used alone, and can be combined with each other, and the present invention is not limited to this. The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A method for adjusting an intraoperative motionless point, comprising:

2. The method of adjusting an intra-operative motionless point according to claim 1, wherein the pose of the dominant adjustment object is adjusted according to a preset desired operational pose.

3. The method of adjusting an intra-operative motionless point according to claim 2, wherein the step of adjusting the pose of the slave adjustment object following the pose adjustment of the master adjustment object comprises:

obtaining a first expected pose of the leading adjustment object according to the preset expected operation pose, and further obtaining an expected immobile point pose;

4. The method of claim 3, wherein after obtaining a second adjustment path of the flank from the adjustment object, the method of adjusting the point of the intraoperative immobility further comprises:

5. The method of claim 1, wherein the pose of the dominant adjustment object is actively adjusted in real time.

6. The method of claim 5, wherein the step of actively adjusting the pose of the dominant adjustment object in real time comprises:

7. The method of adjusting an intra-operative motionless point according to claim 5, wherein the step of adjusting the pose of the slave adjustment object following the pose adjustment of the master adjustment object comprises:

8. The method according to claim 1, wherein when the mechanical arms are used as a leading adjustment object and the supporting device is a secondary adjustment object, if the number of the mechanical arms is greater than two, two of the mechanical arms are defined as active adjustment ends in the leading adjustment object, and the remaining mechanical arms are defined as passive adjustment ends in the leading adjustment object; the pose of the active adjusting end is actively adjusted in real time, and the pose of the passive adjusting end is adjusted along with the pose adjustment of the active adjusting end.

9. The method for adjusting the intraoperative motionless point according to claim 1, further comprising:

10. The method for adjusting the intraoperative motionless point according to claim 1, further comprising:

and enabling the pose adjustment of the mechanical arm to avoid the safe area.

11. The method for adjusting the intraoperative motionless point according to claim 10, wherein the method for establishing the safety zone comprises:

and fitting to obtain the safety region based on the point cloud data.

12. The method for adjusting the intraoperative motionless point according to claim 10, wherein the method for establishing the safety zone comprises:

fitting to obtain the safety region based on the shape data.

13. The method for adjusting an intraoperative motionless point according to claim 1, wherein after the step of adjusting the pose of the flank slave adjustment object following the pose adjustment of the master adjustment object, the method for adjusting an intraoperative motionless point further comprises:

14. A readable storage medium on which a program is stored, characterized in that the program, when executed, realizes the method of adjusting a motionless point according to any one of claims 1-13.

15. A surgical robotic system, comprising: a support device, a robotic arm, and a master controller, one of the support device and the robotic arm configured to master an adjustment object and the other configured to slave the adjustment object, the robotic arm for driving movement of a connected instrument through a fixed point;

the main controller is configured to control the pose of the flank slave adjustment object to follow the pose adjustment of the master adjustment object according to the motionless point adjustment method of any one of claims 1 to 13, so that the pose of the motionless point with respect to the support device is kept unchanged.