CN116407298A

CN116407298A - Alignment activation method and device of surgical robot and surgical robot

Info

Publication number: CN116407298A
Application number: CN202111654482.9A
Authority: CN
Inventors: 周振鸿; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-07-11

Abstract

The invention provides a method and a device for activating alignment of a surgical robot and the surgical robot, wherein the method comprises the following steps: determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment; acquiring an operation instruction associated with a target alignment activation mode; in response to the operation instruction being triggered, the posture of the operation portion is aligned with the posture of the end effector of the instrument. The embodiment of the invention provides various alignment activation modes, and can select a proper alignment activation mode according to the type of the instrument installed on the slave operation equipment, and execute the alignment flow of the operation part and the slave operation equipment after activation, thereby avoiding the misoperation problem during activation and improving the safety and efficiency of the activation process.

Description

Alignment activation method and device of surgical robot and surgical robot

Technical Field

The invention relates to the technical field of surgical robots, in particular to a method and a device for activating alignment of a surgical robot and the surgical robot.

Background

Surgical robots typically include a master console including a display and a joystick, and a slave manipulator including a plurality of manipulator arms having end instruments. In the working state, the doctor controls the operation rod to send a control command to the slave operation device, and the tail end instrument runs along with the operation rod so as to realize remote operation.

When the end instrument positioned in the body is ready to be started to enter the working state (including initial starting or switching of the end instrument), the posture of the end instrument and the posture of the clamp are usually deviated, and if the end instrument is started to move along with the operation rod, damage to the body is easily caused. Therefore, it is necessary to perform master-slave alignment, reduce the deviation of the pose of the distal instrument and the operation lever to satisfy the alignment condition, and then start the distal instrument to enter the following state.

Before the operation robot performs master-slave alignment, an activation step is usually performed, and after activation, a master-slave alignment process is performed, and the existing activation mode has the problem of misoperation of the end instrument, for example, the grasping forceps are loosened and the needle is dropped during activation.

Disclosure of Invention

The invention solves the problem of misoperation of the tail end instrument in the activation mode of the traditional mobile phone robot.

To solve the above problems, an embodiment of the present invention provides a method for activating alignment of a surgical robot, the surgical robot including an operation portion and a slave operation device, the method including: determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment; acquiring an operation instruction associated with the target alignment activation mode; in response to the operating instruction being triggered, the pose of the operating portion is aligned with the pose of the end effector of the instrument.

Optionally, the alignment activation manner includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation and fingerprint identification alignment activation; the determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment comprises the following steps: if the type of the instrument installed from the operation equipment is an opening-closing type, determining that a target alignment activation mode is the rotation alignment activation or push alignment activation; and if the type of the instrument installed from the operation equipment is non-open-close, determining that the target alignment activation mode is the double-click alignment activation or the fingerprint identification alignment activation.

Optionally, the operation part includes at least one rotatable component, and the rotatable component has a mapping control relationship with a target joint of the slave operation device; if the rotation alignment is determined to be activated, the response to the operation instruction is triggered, including: transmitting a fixed position value to a target joint of the slave operation device; acquiring an instruction which is input by a user through the rotatable component and used for controlling the rotation of the target joint, and sending the instruction to the target joint; collecting a current position value and a current value of a motor of the target joint; and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one pushable component, and the pushable component has a mapping control relationship with a target joint of the slave operation device; if the push alignment is determined to be activated, the response to the operation instruction is triggered, including: transmitting a fixed position value to a target joint of the slave operation device; acquiring an instruction which is input by a user through the pushable component and used for controlling the pushing of the target joint, and sending the instruction to the target joint; collecting a current position value and a current value of a motor of the target joint; and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one clamp, and the clamp has a mapping control relationship with a target joint of the slave operation device; if the double-click bit is determined to be activated, the response to the operation instruction is triggered, including: acquiring a first action instruction and a second action instruction which are sequentially input by a user through the clamp; the first action command is associated with a kneading action and the second action command is associated with a loosening action, or the second action command is associated with a kneading action and the first action command is associated with a loosening action; if the instrument installed from the operation equipment responds to the first action instruction and the second action instruction to be executed, continuously acquiring the first action instruction input by the user through the clamp; and if the instrument installed from the operation device responds to the first action instruction to be executed again, determining that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes a fingerprint identification component, and if the fingerprint identification alignment is selected to be activated, the response to the operation instruction is triggered, including: acquiring fingerprint information and pressure values acquired by the fingerprint identification component; and if the fingerprint information is matched with the prestored legal fingerprint information and the pressure value is greater than a preset pressure threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, before the determining the target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation device, the method further includes: reading information of the instrument installed from the operation equipment to obtain the type of the instrument; and/or identifying the image comprising the instrument installed from the operation device and acquired by the image acquisition device, and obtaining the type of the instrument.

Optionally, the aligning the pose of the operating portion with the pose of the end effector of the instrument includes: executing an automatic alignment flow of the operation part and the slave operation device; and after the control instruction input by the user is acquired, executing an active following flow of the slave operation device actively following the operation part.

Optionally, if the rotation alignment activation, the push alignment activation, and the fingerprint identification alignment activation are selected, the executing the automatic alignment procedure of the operation portion and the slave operation device includes: calculating a second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument installed from the operation device; and controlling the clamp to open to the second opening and closing angle.

Optionally, if the double-click bit activation is selected, the executing the automatic alignment procedure of the operation portion and the slave operation device includes: calculating a first opening and closing angle of the instrument installed from the operation device according to a second opening and closing angle of the clamp of the operation part; controlling the opening of the instrument mounted from the operating device to the first opening and closing angle.

Optionally, the calculating the second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument installed from the operation device includes: acquiring the current actual gesture of the instrument installed from the operation equipment, converting the current actual gesture coordinate into the target gesture of the clamp of the operation part, and inversely solving the target gesture to obtain the target joint position of the clamp; the controlling the clamp to open to the second opening and closing angle includes: transmitting the target joint position to the clamp to move the clamp to the target joint position; acquiring a current joint position of the clamp, and positively solving the current joint position to obtain a current posture of the clamp; converting the current posture coordinates of the clamp into a current posture for verification of the slave operation device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed by the slave operation device; and if the deviation is smaller than or equal to a preset deviation threshold value, determining that the clamp is opened to the second opening and closing angle.

Optionally, the executing the active following procedure that the slave operation device actively follows the operation part includes: acquiring the current gesture of the operation part after being controlled by a user; converting the current pose coordinates into a target pose of the instrument mounted from the operating device; inverse solving the target pose to obtain a target joint position of the instrument mounted from the operating device; controlling the movement of the instrument mounted from the operating device to the target joint position.

Optionally, before the determining the target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation device, the method further includes: judging whether the main operation table and the operation part are allowed to be activated in an alignment mode; determining that the para-position is allowed to be activated if at least one of the following conditions is satisfied; the conditions include that a head induction signal trigger is acquired, the communication between the master operation platform and the slave operation equipment is normal, and the slave operation equipment allows an alignment signal to trigger.

The embodiment of the invention provides a contraposition activating device of a surgical robot, the surgical robot comprises an operation part and a slave operation device, and the device comprises: the activation mode selection module is used for determining a target alignment activation mode from alignment activation modes according to the type of the instrument installed from the operation equipment; the operation instruction acquisition module is used for acquiring the operation instruction related to the target alignment activation mode; and the alignment execution module is used for aligning the gesture of the operation part with the gesture of the end effector of the instrument in response to the operation instruction being triggered.

An embodiment of the present invention provides a surgical robot including: an operation unit; a slave operating device; and a controller coupled with the operation portion and the slave operation device and configured to perform the alignment activation method of the surgical robot.

Embodiments of the present invention provide a computer readable storage medium storing a computer program configured to be loaded by a processor and to perform a method of implementing the above-described surgical robot's alignment activation.

The embodiment of the invention provides various alignment activation modes, and can select a proper alignment activation mode according to the type of the instrument installed on the slave operation equipment, and execute the alignment flow of the operation part and the slave operation equipment after activation, thereby avoiding the misoperation problem during activation and improving the safety and efficiency of the activation process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a main console according to an embodiment of the present invention;

FIG. 2 is a schematic view of a main wrist of an operator according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a slave operation device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of another slave operating device in an embodiment of the invention;

FIG. 5 is a schematic flow chart of a method for activating a surgical robot in alignment in an embodiment of the invention;

FIG. 6 is a flow chart of a rotary alignment activation method according to an embodiment of the present invention;

FIG. 7 is a flow chart of a push-to-alignment activation method in an embodiment of the invention;

FIG. 8 is a flow chart of a double-click para-position activation method in an embodiment of the invention;

FIG. 9 is a flow chart of the pattern recognition alignment activation method in the embodiment of the invention;

FIG. 10 is a schematic flow chart of the activation and alignment of the surgical robot according to the embodiment of the present invention;

fig. 11 is a schematic structural view of an alignment activation device of a surgical robot according to an embodiment of the present invention.

Reference numerals illustrate:

100-a main console; 200—slave operating device; 110-master arm; 120-master wrist; 121-a first rod; 122-a second lever; 123-third rod; 124-a clamp; 125-first rotary joint; 126-a second revolute joint; 127-third revolute joint; 128-fourth revolute joint; 129-push button; j1-a first axis of rotation; j2-a second axis of rotation; j3-a third axis of rotation; 210-a mechanical arm; 220-actuating means; 230-puncture outfit; 310-a mechanical arm; 320-adjusting the arm; 330-a manipulator; 340-puncture outfit; 350-surgical instrument; 111-an activation mode selection module; 112-an operation instruction acquisition module; 113-a para-execution module.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The surgical robot generally includes a slave operating device and a master operating table, and fig. 1 is a schematic view of one master operating table in an embodiment of the present invention, and fig. 3 is a schematic view of one slave operating device in an embodiment of the present invention. The doctor can perform the relevant control operation of the slave operation device 200 on the master operation panel 100, and the slave operation device 200 performs the operation on the human body according to the input instruction of the master operation panel 100.

In fig. 1, the main console 100 is shown to include an operation section including a main hand arm 110 and a main wrist 120. The user controls the movement of the slave operation device 200 by operating the master arm 110 and the master wrist 120, and the control signal processing system of the master operation console 100 processes the input signals of the master arm 110 and the master wrist 120 and then issues a control command to the slave operation device 200, and the slave operation device 200 is used for responding to the control command sent by the master operation console and performing corresponding operations.

Specifically, mapping control of the pose is established between the master arm 110 and the master wrist 120 and the manipulator and instrument of the slave operating device. The mapping may correspond to a positional relationship, which may be a correspondence such as a distance proportionality, a distance trend correspondence, etc. Alternatively, such a mapping may be a motion relationship correspondence, which may be a motion gesture correspondence, a motion trend correspondence, or the like. Thus, the user may control the instrument to perform a corresponding action (e.g., pitch, yaw, roll, grip, etc.) while manipulating the master arm 110 and the master wrist 120. Motors with encoders are provided in the joints of the master arm 110 and the master wrist 120 to enable automatic alignment and other corresponding control functions.

Fig. 2 is a schematic view of a main wrist of an operation portion according to an embodiment of the present invention, showing that the main wrist 120 has a plurality of degrees of freedom, typically at least three degrees of freedom. Main wrist 120 includes a first lever 121, a second lever 122, a third lever 123, a clamp 124, a first revolute joint 125, a second revolute joint 126, a third revolute joint 127, a fourth revolute joint 128, and a push button 129. The clamp 124 is mounted to one end of the first rod 121 through a first rotary joint 125, two symmetrical push buttons 129 are further arranged on the clamp 124, and the other end of the first rod 121 is mounted to one end of the second rod 122 through a second rotary joint 126; the other end of the second lever 122 is mounted to one end of the third lever 123 through a third rotational joint 127; the other end of the third lever 123 is mounted to the master arm 110 through a fourth pivot joint 128.

The clamp 124 is rotatably connected to the first lever 121 through a first rotation joint 125 such that the clamp 124 is rotatable about a first rotation axis J1 of the first rotation joint 125. The first lever 121 is rotatably connected to the second lever 122 through the second rotary joint 126 such that the first lever 121 can rotate about the second rotation axis J2 of the second rotary joint 126, the second lever 122 is rotatably connected to the third lever 123 through the third rotary joint 127 such that the second lever 122 can rotate about the third rotation axis J3 of the third rotary joint 127, and the third lever 123 is rotatably connected to the master arm 110 through the fourth rotary joint 128 such that the third lever 123 can rotate about the rotation axis of the fourth rotary joint 128.

In the illustrated embodiment, the axes of rotation of the first, second, and third

rotational joints

125, 126, 127—the first, second, and third rotational axes J1, J2, J3 intersect at a point. The main wrist 120 adopts a multi-axis one-point design, and the posture and the position of the whole main hand are relatively decoupled, so that the kinematic solution is convenient.

In the illustrated embodiment, the first, second and

third rods

121, 122, 123 are L-shaped rods, each having two ends connected perpendicularly to each other, and each having two ends connected to a revolute joint.

In the illustrated embodiment, the gripper 124 is capable of performing multiple degrees of freedom motions by means of a plurality of levers (first lever 121, second lever 122, third lever 123) and a plurality of rotational joints (first rotational joint 125, second rotational joint 126, third rotational joint 127, fourth rotational joint 128); in other embodiments, the number of levers and rotational joints may be set according to the degree of freedom of movement actually required by the clamp 124.

The master arm 110 has a mounting end and a connecting end, the mounting end is capable of being fixedly connected with the support base of the master console 100, and the master arm 110 has at least one degree of freedom of movement. The master wrist 120 is movably disposed at the connection end of the master hand arm 110 through a fourth rotation joint 128, and the master wrist 120 allows the user to perform a corresponding operation such as rotation or clamping. The clamp 124 has an opening and closing degree of freedom, after the opening and closing degree of freedom motion of the clamp 124 is mapped to the instrument, the opening and closing motion (such as clamping or shearing) of the end effector can be controlled, and after the rotational degree of freedom motion of the clamp 124 around the first rotation axis J1 of the first rotation joint 125 is mapped to the instrument, the rolling motion of the end effector of the instrument can be controlled.

As shown in fig. 3, the slave manipulator 200 includes a robot arm 210 and an actuating device 220 provided at a distal end of the robot arm 210, a surgical instrument (not shown) for performing a surgery is connected to the actuating device 220, and the actuating device 220 drives the surgical instrument to move by a plurality of actuators therein. One actuation device 220 may have a plurality of surgical instruments attached thereto. The distal end of the actuator 220 is detachably provided with a puncture outfit 230 for connection with a human body to achieve an airtight seal, and a surgical instrument provided to the actuator 220 is inserted into a patient through the puncture outfit 230.

Fig. 4 is a schematic view of another slave manipulator according to an embodiment of the present invention, showing a multi-hole surgical robot, differing from the single-hole surgical robot shown in fig. 3 mainly in the slave manipulator of both. The drive arm of the slave operating device of the multi-hole surgical robot shown in fig. 4 has a mechanical arm 310, an adjustment arm 320, and a manipulator 330 connected in this order. The number of the adjusting arms 320 and the manipulators 330 is the same and more than two. The manipulator 330 is detachably provided with a puncture outfit 340 for being connected with a human body to realize an airtight seal. The surgical instrument 350 is mounted to the manipulator 330 and inserted into the human body through the puncture outfit 340.

The doctor can input pose instructions including position instructions and pose instructions through the operation part of the main operation table to control the movement of the surgical instrument mounted from the operation device.

When the end instrument positioned in the body is ready to start to enter the working state, master-slave alignment needs to be performed, and then the end instrument is started to enter the following state. It is generally necessary to perform the activation step first, and then perform the master-slave alignment procedure after activation.

Fig. 5 is a schematic flow chart of a method of activating an alignment of a surgical robot in an embodiment of the present invention, the method being applied to a surgical robot including an operation section and a slave operation device, the method including:

S502, determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment.

Before performing the alignment activation, it is necessary to detect whether the current state of the surgical robot allows the master console to perform the alignment activation with the slave operating device. The alignment activation method provided in the present embodiment is performed under the condition that alignment is allowed.

Illustratively, it is determined that the bit is allowed to be activated if the following conditions are satisfied: and acquiring head induction signal trigger, enabling the master operation platform to normally communicate with the slave operation equipment, and enabling the slave operation equipment to trigger the alignment signal. In the above conditions, a head sensing signal trigger is acquired, which indicates that the user is ready for operation at the main operation console; the main operation platform and the auxiliary operation equipment are communicated normally, which means that the main operation platform and the auxiliary operation equipment can be communicated reliably; the slave operating device allows for the triggering of an alignment signal, such as the endoscope being in place and a surgical instrument being in place. Optionally, the main console is provided with a sensor, such as a proximity switch, pressure sensor, etc., to sense whether the head is approaching, in which case the head sensing signal triggers.

To perform the function of detecting the instrument type, the following may be used, for example: reading information of the instrument installed from the operation equipment to obtain the type of the instrument; and/or identifying an image acquired by the image acquisition device, wherein the image comprises the instrument installed from the operation equipment, and obtaining the type of the instrument. The image pickup device is, for example, an endoscope that may or may not be an endoscope (e.g., a hand-held endoscope) attached to the slave operation device.

Optionally, this embodiment provides multiple modes of para-activation, as follows: double-click alignment activation, rotation alignment activation, push alignment activation, fingerprint identification alignment activation. The double-click contraposition activation is determined by whether the slave operation equipment responds to the double-kneading action of the user, the rotation contraposition activation is determined by whether the slave operation equipment responds to the rotation and pushing operation of the user, the pushing contraposition activation is determined by whether the slave operation equipment responds to the pushing operation of the user, and the fingerprint identification contraposition activation is determined by whether the master operation platform collects legal fingerprints and proper fingerprint pressure.

In consideration of the fact that the device installed from the operation device can limit the activation modes used by the device, on the basis that the plurality of alignment activation modes are provided, the alignment activation modes can be automatically selected according to the type of the device, and therefore a safer and more efficient activation effect is provided for a user. Optionally, if the type of the instrument installed from the operation device is an open-close type, selecting a rotation alignment activation mode or a push alignment activation mode; and if the type of the instrument installed from the operation equipment is non-open-close, selecting a double-click contraposition activation mode or a fingerprint identification contraposition activation mode.

For example, for instruments with open-close functionality, which include end effectors such as graspers, scissors, split-jaws, etc., if a double-click-on-position activation (where the end effector opens and closes to some extent during activation) is used, it may cause the instrument that originally grasped the surgical needle to loosen the needle, or the grasper that originally grasped the tissue to loosen, which may be detrimental to the surgical procedure. Therefore, the rotation alignment activation mode, the pushing alignment activation mode and the fingerprint identification alignment activation mode can be selected for the instrument with the opening and closing function.

For instruments without the opening and closing function, the end effector such as an electric knife can be selected to be activated by double-click contraposition. It should be noted that, the double-click para-position activation mode is relatively higher in accuracy, and the problem of false touch activation is not easy to occur. After the system identifies legal user fingerprints, the fingerprint identification alignment activation mode can read operation preference information of the legal user, such as the position and posture motor height of a main operation table, the motion proportion of master-slave operation and the like, so that the operation preparation can be completed quickly.

When a plurality of feasible alignment activation modes are obtained based on the steps, prompt information for prompting the user to autonomously select the activation mode can be output, and the user can automatically select a proper alignment activation mode.

S504, acquiring the operation instruction related to the target alignment activation mode.

After the target alignment activation mode is determined, the associated operation instruction is acquired, so that the operation part and the slave operation equipment execute the operation instruction.

S506, in response to the above operation instruction being triggered, aligning the posture of the operation portion with the posture of the end effector of the instrument.

Optionally, the gesture alignment procedure includes the steps of: (1) Executing an automatic alignment flow of the operation part and the slave operation device; (2) After the manipulation instruction input by the user is acquired, an active following flow of the slave operation device active following operation part is executed.

The alignment activation method of the surgical robot provided by the embodiment provides a plurality of alignment activation modes, and a proper alignment activation mode can be selected according to the type of the instrument installed on the slave operation equipment, and the gesture alignment flow of the operation part and the slave operation equipment is executed after the activation, so that the problem of misoperation during the activation can be avoided, and the safety and the efficiency of the activation process are improved.

The specific process of each alignment activation mode is described in detail below.

Fig. 6 shows a flow chart of a rotational alignment activation method applied to the surgical robot of the present embodiment, in which the operation section includes at least one rotatable member having a mapping control relationship with a target joint of the slave operation device. The rotatable member and other members triggering the corresponding operation instructions are in communication connection with the controller or the processor of the main control console. As shown in fig. 6, the method comprises the following steps:

S601, a fixed position value is transmitted to the target joint of the slave operation device. And taking a certain joint as a target joint, and taking the response of the joint as a basis for judging whether the activation is successful or not. After the fixed position value is sent, the motor of the joint is kept at the position corresponding to the fixed position value.

S602, acquiring an instruction of controlling rotation of a target joint, which is input by a user through a rotatable part, and sending the instruction to the target joint. After the user inputs the action of controlling the rotation of the target joint through the operation part, the target joint rotates to another position against the moment of the motor, and the system software can read the current position value. In the next step, the system software checks the current value and the position value of the motor to determine whether the rotation activation is completed.

S603, collecting a current position value and a current value of a motor of the target joint. The controller of the main control console may be connected to a driver of the motor from which the current value of the motor is obtained. The controller of the main console may also be connected to a position sensor of the motor, such as an encoder, from which the current position value of the motor is obtained.

S604, if the current value is greater than a preset current threshold value and/or the difference between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that the activation is successful.

Because the fixed position value issued to the motor does not change, after the user controls the target joint to rotate, the motor can output a moment opposite to the rotation direction and the pushing direction, and the system software can acquire the current value of the motor, and if the current value is larger than a preset current threshold value, the rotation activation is considered to be successful. And if the activation success condition is not met, restoring the target joint to the fixed position through the spring model.

The system software can also collect the current position value of the motor, then compare with the above-mentioned fixed position value, the current position value is greater than the preset and moves the difference threshold value with the fixed position value, then consider that rotates and activates and finish. And if the activation success condition is not met, restoring the target joint to the fixed position through the spring model.

Fig. 7 is a schematic flow chart of a pushing alignment activation method in the present embodiment, where the operation part of the surgical robot to which the pushing alignment activation method is applied includes at least one pushable member having a mapping control relationship with a target joint of the slave operation device. As shown in fig. 7, the method comprises the following steps:

s701, a fixed position value is transmitted to the target joint of the slave operation device. And taking a certain joint as a target joint, and taking the response of the joint as a basis for judging whether the activation is successful or not. After the fixed position value is sent, the motor of the joint is kept at the position corresponding to the fixed position value.

S702, acquiring a command which is input by a user through the pushing component and used for controlling pushing of the target joint, and sending the command to the target joint. After the user inputs the action of controlling the rotation of the target joint through the operation part, the target joint rotates to another position against the moment of the motor, and the system software can read the current position value. In the next step, the system software checks the current value and the position value of the motor to determine whether the rotation activation is completed.

S703, collecting the current position value and the current value of the motor of the target joint. The controller of the main control console may be connected to a driver of the motor from which the current value of the motor is obtained.

S704, if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that the activation is successfully executed.

Because the fixed position value issued to the motor is unchanged, a user can hold the operating rod to push inwards or pull outwards, and if the current value is greater than a preset current threshold value, the rotation activation is considered to be successful. And if the activation success condition is not met, restoring the target joint to the fixed position through the spring model.

The system software can also collect the current position value of the motor, then compare with the above-mentioned fixed position value, the current position value is greater than the preset and moves the difference threshold value with the fixed position value, then consider to promote and activate and finish. And if the activation success condition is not met, restoring the target joint to the fixed position through the spring model.

Fig. 8 is a schematic flow chart of a double-click alignment activation method in the present embodiment, where the operation part of the surgical robot to which the double-click alignment activation method is applied includes at least one jig having a mapping control relationship with a target joint of the slave operation device. As shown in fig. 8, the method comprises the following steps:

s801, a first action instruction and a second action instruction which are sequentially input by a user through a clamp are acquired. The first action is a kneading action, the second action is a releasing action, or the second action is a kneading action, and the first action is a releasing action. That is, the activation is performed in a pinch-pinch, pinch-pinch sequence.

For example, when the function is in the waiting operation state, and the first pinching judgment is performed, if the feedback data of the opening and closing sensor is smaller than the set value, the pinching action is considered to be successfully performed to the next action. Otherwise, the operation state is returned to be waited.

In the process of releasing the finger, the finger drives the releasing sensor within a set time (for example, 1 second), and if the feedback data of the opening and closing sensor is judged to be larger than the set value, the releasing action is considered to be successful (namely, the releasing action is completed) to enter the next action. If the power is not released to the prescribed value within the prescribed time, the power is considered to be failed to return to the standby operation state.

S802, if the instrument installed from the operation device responds to the first action instruction and the second action instruction and is executed, the first action input by the user through the clamp is continuously acquired.

And (3) performing second pinching judgment, wherein the pinching is continued by the fingers within a preset time (for example, 1 second), and if the feedback data of the opening and closing sensor is smaller than the set value, the pinching action is considered to be successful (namely, the pinching is completed). If the set value is not pinched in the prescribed time, the standby operation state is returned as failed.

S803, if the instrument mounted from the operation device is executed again in response to the first action instruction, it is determined that the operation instruction associated with the target alignment activation method is triggered.

Fig. 9 is a schematic flow chart of a fingerprint identification alignment activation method in the present embodiment, and the operation part of the surgical robot to which the fingerprint identification alignment activation method is applied includes a fingerprint identification component having fingerprint identification and pressure identification functions. As shown in fig. 9, the method comprises the following steps:

s901, acquiring fingerprint information and pressure values acquired by a fingerprint identification component.

S902, if the fingerprint information is matched with prestored legal fingerprint information and the pressure value is greater than a preset pressure threshold value, determining that the execution activation is successful.

The surgical robot is pre-recorded with allowed legal user lists and fingerprint information by the authority personnel of the administrator. When the device is required to be activated, a user presses the finger to the fingerprint identification device of the main operation console, and a pressure sensor is arranged below the fingerprint identification device and can collect the pressure value of the finger pressing. And if the fingerprint matching is successful and the pressure value exceeds the preset pressure threshold, the system considers that the activation is successful.

After the activation is successful, the alignment flow of the operation part and the slave operation device is continuously executed. Optionally, the method comprises the following two-stage flow: executing an automatic alignment flow of the operation part and the slave operation device; after the manipulation instruction input by the user is acquired, an active following flow of the slave operation device active following operation part is executed.

In automatic alignment, the two modes of master-slave following or slave-slave following can be adopted. Based on the selection reason of the activation mode, if rotation alignment activation, pushing alignment activation and fingerprint identification alignment activation are selected, a slave master following mode is selected; if the double-click bit is selected to be activated, a master-slave following mode is selected. The method comprises the following steps:

(1) If the rotation alignment activation, the push alignment activation, and the fingerprint identification alignment activation are selected, the slave-master following mode is selected, and S506 includes: calculating a second opening and closing angle of the clamp of the operation part according to a first opening and closing angle of the instrument installed from the operation device; the clamp of the control operation part is opened to a second opening and closing angle.

Wherein the instrument mounted from the operating device comprises an end effector, and the opening and closing of the instrument is that of the end effector of the instrument. Specifically, calculating the second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument mounted from the operation device includes: the method comprises the steps of obtaining the current actual gesture of an instrument installed from operation equipment, converting the current actual gesture coordinate into the target gesture of a clamp of an operation part, and inversely solving the target gesture to obtain the target joint position of the clamp. Controlling the clamp to open to a second opening and closing angle, comprising: transmitting the target joint position to the clamp to move the clamp to the target joint position; acquiring a current joint position of the clamp, and positively solving the current joint position to obtain a current posture of the clamp; converting the current posture coordinates of the clamp into a current posture for verification of the slave operation device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument mounted by the slave operation device; if the deviation is smaller than or equal to a preset deviation threshold value, determining that the clamp is opened to a second opening and closing angle.

(2) If the double-click bit activation is selected, the master-slave following mode is selected, and S506 includes: calculating a first opening and closing angle of an instrument installed from the operation device according to a second opening and closing angle of the clamp of the operation part; controlling the opening of an instrument mounted from the operating device to a first opening and closing angle.

The master-slave following mode is simpler in structure, and because the operating rod of the master operating platform in the master-slave following mode is controlled to open and close by a user, the opening and closing of the operating rod are not required to have active movement properties, however, the master-slave following mode is easy to enable the installed instruments such as needle holding, large grasping forceps, separating forceps, scissors and the like with the opened and closed instrument tools to have opening and closing actions in the alignment process, so that the problems of needle falling, forceps or scissors loosening and the like are caused. Compared with a master-slave following mode, the slave following mode has no opening and closing action of instruments at the slave operation equipment, and the safety of operation is higher.

After automatic alignment, if a manipulation instruction input by a user is acquired, executing an active following flow of the slave operation device actively following the operation part. Specifically, the method comprises the following steps: acquiring the current gesture of the operation part after being controlled by a user; converting the current posture coordinates into a target posture of the instrument mounted from the operation device; inverse-solving the target gesture to obtain a target joint position of the instrument installed from the operation device; controlling movement of an instrument mounted from the operating device to a target joint position.

Fig. 10 is a schematic flow chart of the activation and alignment of the surgical robot in this embodiment, which includes the following steps:

S1001, it is determined whether or not to allow the activation of the alignment. If yes, executing S1002; if not, S1001 is continued.

S1002, a para-position activation method determined according to the instrument type is performed.

S1003, judging whether the alignment activation is successful. If yes, executing S1004; if not, then S1002 is performed.

S1004, acquiring the current actual gesture of the instrument installed from the operation equipment, converting the current actual gesture coordinate into the target gesture of the clamp of the operation part, and inversely solving the target gesture to obtain the target joint position of the clamp.

S1005, transmitting the target joint position to the jig to move the jig to the target joint position.

S1006, acquiring the current joint position of the clamp, and positively solving the current joint position to obtain the current posture of the clamp.

S1007, converting the current posture coordinates of the jig into a current posture for verification of the slave operation device, calculating a deviation between the current posture for verification and the current actual posture of the instrument mounted from the operation device.

S1008, judging whether the deviation is smaller than or equal to a deviation threshold. If yes, then execution S1009; if not, then S1006 is performed.

S1004 to S1008 are automatic alignment processes, and S1009 to S1012 described below are active follow processes.

S1009, default master-slave 100% alignment, acquires the current posture of the operation section after being controlled by the user. The current posture is obtained by positively solving the joint position reached by the actual human manipulation movement of the operation part.

S1010, converting the current posture coordinates into a target posture of the instrument mounted from the operation device. The target pose, for example, includes a target pose of an end effector in the instrument.

S1011, the target joint position of the instrument installed from the operation device is obtained by inverse solution of the target gesture.

S1012, controlling the movement of the instrument mounted from the operation device to the target joint position.

According to the method provided by the embodiment, through automatic selection of the activation mode, misoperation problems during activation can be prevented, safety and efficiency of an activation process are improved, for example, a rotation alignment mode adopts a position or current mode to judge, a user can easily complete alignment actions, the needle falling and the like in an operation process can be prevented, and the following mode adopts a follow-up mode and the needle falling and the like in the operation process can be avoided.

Fig. 11 is a schematic structural view of an alignment activation device of a surgical robot according to an embodiment of the present invention, the device including:

an activation mode selection module 111, configured to determine a target alignment activation mode from among alignment activation modes according to the type of the instrument installed from the operation device;

An operation instruction obtaining module 112, configured to obtain an operation instruction associated with the target alignment activation mode;

an alignment execution module 113 for aligning the pose of the operating portion with the pose of the end effector of the instrument in response to the operating instructions being triggered.

The alignment activation device of the surgical robot provided by the embodiment provides various alignment activation modes, and can select a proper alignment activation mode according to the type of the instrument installed from the operation equipment, and execute the gesture alignment flow of the operation part and the operation equipment after activation, so that the misoperation problem during activation can be avoided, and the safety and the efficiency of the activation process are improved.

Optionally, the alignment activation manner includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation and fingerprint identification alignment activation; the activation manner selection module 111 is specifically configured to: if the type of the instrument installed from the operation equipment is an opening-closing type, determining that a target alignment activation mode is the rotation alignment activation or push alignment activation; and if the type of the instrument installed from the operation equipment is non-open-close, determining that the target alignment activation mode is the double-click alignment activation or the fingerprint identification alignment activation.

Optionally, the operation part includes at least one rotatable component, and the rotatable component has a mapping control relationship with a target joint of the slave operation device; the alignment execution module 113 is specifically configured to: transmitting a fixed position value to a target joint of the slave operation device; acquiring an instruction which is input by a user through the rotatable component and used for controlling the rotation of the target joint, and sending the instruction to the target joint; collecting a current position value and a current value of a motor of the target joint; and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one pushable component, and the pushable component has a mapping control relationship with a target joint of the slave operation device; the alignment execution module 113 is specifically configured to: transmitting a fixed position value to a target joint of the slave operation device; acquiring an instruction which is input by a user through the pushable component and used for controlling the pushing of the target joint, and sending the instruction to the target joint; collecting a current position value and a current value of a motor of the target joint; and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one clamp, and the clamp has a mapping control relationship with a target joint of the slave operation device; the alignment execution module 113 is specifically configured to: acquiring a first action instruction and a second action instruction which are sequentially input by a user through the clamp; the first action command is associated with a kneading action and the second action command is associated with a loosening action, or the second action command is associated with a kneading action and the first action command is associated with a loosening action; if the instrument installed from the operation equipment responds to the first action instruction and the second action instruction to be executed, continuously acquiring the first action instruction input by the user through the clamp; and if the instrument installed from the operation device responds to the first action instruction to be executed again, determining that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation portion includes a fingerprint identification component, and the alignment execution module 113 is specifically configured to: acquiring fingerprint information and pressure values acquired by the fingerprint identification component; and if the fingerprint information is matched with the prestored legal fingerprint information and the pressure value is greater than a preset pressure threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

Optionally, the activation manner selection module 111 is specifically configured to: reading information of the instrument installed from the operation equipment to obtain the type of the instrument; and/or identifying the image comprising the instrument installed from the operation device and acquired by the image acquisition device, and obtaining the type of the instrument.

Optionally, the alignment execution module 113 is specifically configured to: executing an automatic alignment flow of the operation part and the slave operation device; and after the control instruction input by the user is acquired, executing an active following flow of the slave operation device actively following the operation part.

Optionally, the alignment execution module 113 is specifically configured to: calculating a second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument installed from the operation device; and controlling the clamp to open to the second opening and closing angle.

Optionally, the alignment execution module 113 is specifically configured to: calculating a first opening and closing angle of the instrument installed from the operation device according to a second opening and closing angle of the clamp of the operation part; controlling the opening of the instrument mounted from the operating device to the first opening and closing angle.

Optionally, the alignment execution module 113 is specifically configured to: acquiring the current actual gesture of the instrument installed from the operation equipment, converting the current actual gesture coordinate into the target gesture of the clamp of the operation part, and inversely solving the target gesture to obtain the target joint position of the clamp; transmitting the target joint position to the clamp to move the clamp to the target joint position; acquiring a current joint position of the clamp, and positively solving the current joint position to obtain a current posture of the clamp; converting the current posture coordinates of the clamp into a current posture for verification of the slave operation device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed by the slave operation device; and if the deviation is smaller than or equal to a preset deviation threshold value, determining that the clamp is opened to the second opening and closing angle.

Optionally, the alignment execution module 113 is specifically configured to: acquiring the current gesture of the operation part after being controlled by a user; converting the current pose coordinates into a target pose of the instrument mounted from the operating device; inverse solving the target pose to obtain a target joint position of the instrument mounted from the operating device; controlling the movement of the instrument mounted from the operating device to the target joint position.

Optionally, the apparatus further includes an activation permission determination module configured to: judging whether the main operation table and the operation part are allowed to be activated in an alignment mode; determining that the para-position is allowed to be activated if at least one of the following conditions is satisfied; the conditions include that a head induction signal trigger is acquired, the communication between the master operation platform and the slave operation equipment is normal, and the slave operation equipment allows an alignment signal to trigger.

The embodiment of the invention provides a surgical robot, which comprises an operation part; a slave operating device; and a controller coupled with the operation portion and the slave operation device and configured to perform the alignment activation method of the surgical robot.

The embodiment of the invention also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the process of the alignment activation method embodiment of the surgical robot is realized, the same technical effect can be achieved, and the repetition is avoided, so that the description is omitted. Wherein the computer readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

Of course, it will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer level to instruct a control device, where the program may be stored in a computer readable storage medium, and the program may include the above-described methods in the embodiments when executed, where the storage medium may be a memory, a magnetic disk, an optical disk, or the like.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for activating alignment of a surgical robot, the surgical robot including an operation unit and a slave operation device, the method comprising:

determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment;

acquiring an operation instruction associated with the target alignment activation mode;

in response to the operating instruction being triggered, the pose of the operating portion is aligned with the pose of the end effector of the instrument.

2. The method of claim 1, wherein the alignment activation means comprises at least one of: double-click alignment activation, rotation alignment activation, push alignment activation and fingerprint identification alignment activation;

the determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment comprises the following steps:

if the type of the instrument installed from the operation equipment is an opening-closing type, determining that a target alignment activation mode is the rotation alignment activation or push alignment activation;

and if the type of the instrument installed from the operation equipment is non-open-close, determining that the target alignment activation mode is the double-click alignment activation or the fingerprint identification alignment activation.

3. The method of claim 2, wherein the operating portion includes at least one rotatable component in a mapping control relationship with a target joint of the slave operating device; if the rotation alignment is determined to be activated, the response to the operation instruction is triggered, including:

transmitting a fixed position value to a target joint of the slave operation device;

acquiring an instruction which is input by a user through the rotatable component and used for controlling the rotation of the target joint, and sending the instruction to the target joint;

Collecting a current position value and a current value of a motor of the target joint;

and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

4. The method of claim 2, wherein the operating portion includes at least one pushable member having a mapping control relationship with a target joint of the slave operating device; if the push alignment is determined to be activated, the response to the operation instruction is triggered, including:

acquiring an instruction which is input by a user through the pushable component and used for controlling the pushing of the target joint, and sending the instruction to the target joint;

5. The method of claim 1, wherein the operation portion includes at least one jig in a mapping control relationship with a target joint of the slave operation device; if the double-click bit is determined to be activated, the response to the operation instruction is triggered, including:

acquiring a first action instruction and a second action instruction which are sequentially input by a user through the clamp; the first action command is associated with a kneading action and the second action command is associated with a loosening action, or the second action command is associated with a kneading action and the first action command is associated with a loosening action;

if the instrument installed from the operation equipment responds to the first action instruction and the second action instruction to be executed, continuously acquiring the first action instruction input by the user through the clamp;

and if the instrument installed from the operation device responds to the first action instruction to be executed again, determining that the operation instruction associated with the target alignment activation mode is triggered.

6. The method of claim 1, wherein the operating portion includes a fingerprint recognition component, and wherein the responding to the operating instruction is triggered if it is determined that the fingerprint recognition alignment is activated, comprising:

Acquiring fingerprint information and pressure values acquired by the fingerprint identification component;

and if the fingerprint information is matched with the prestored legal fingerprint information and the pressure value is greater than a preset pressure threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

7. The method of any one of claims 1-6, wherein prior to determining a target alignment activation pattern from among alignment activation patterns based on the type of instrument installed from the operating device, the method further comprises:

reading information of the instrument installed from the operation equipment to obtain the type of the instrument; and/or identifying the image comprising the instrument installed from the operation device and acquired by the image acquisition device, and obtaining the type of the instrument.

8. The method of any of claims 1-6, wherein aligning the pose of the manipulator with the pose of the end-effector of the instrument comprises:

executing an automatic alignment flow of the operation part and the slave operation device;

and after the control instruction input by the user is acquired, executing an active following flow of the slave operation device actively following the operation part.

9. The method of claim 8, wherein if the rotation alignment activation, the push alignment activation, and the fingerprint recognition alignment activation are selected, the performing the automatic alignment process of the operation portion and the slave operation device includes:

Calculating a second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument installed from the operation device;

and controlling the clamp to open to the second opening and closing angle.

10. The method according to claim 8, wherein if the double-click alignment activation is selected, the performing an automatic alignment procedure of the operation portion and the slave operation device includes:

calculating a first opening and closing angle of the instrument installed from the operation device according to a second opening and closing angle of the clamp of the operation part;

controlling the opening of the instrument mounted from the operating device to the first opening and closing angle.

11. The method of claim 9, wherein calculating the second opening and closing angle of the clamp of the operating portion from the first opening and closing angle of the instrument mounted from the operating device comprises:

acquiring the current actual gesture of the instrument installed from the operation equipment, converting the current actual gesture coordinate into the target gesture of the clamp of the operation part, and inversely solving the target gesture to obtain the target joint position of the clamp;

the controlling the clamp to open to the second opening and closing angle includes:

transmitting the target joint position to the clamp to move the clamp to the target joint position;

Acquiring a current joint position of the clamp, and positively solving the current joint position to obtain a current posture of the clamp;

converting the current posture coordinates of the clamp into a current posture for verification of the slave operation device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed by the slave operation device;

and if the deviation is smaller than or equal to a preset deviation threshold value, determining that the clamp is opened to the second opening and closing angle.

12. The method according to claim 8, wherein the executing the active follow-up flow in which the slave operation device actively follows the operation section includes:

acquiring the current gesture of the operation part after being controlled by a user;

converting the current pose coordinates into a target pose of the instrument mounted from the operating device;

inverse solving the target pose to obtain a target joint position of the instrument mounted from the operating device;

controlling the movement of the instrument mounted from the operating device to the target joint position.

13. The method of any one of claims 1-6, wherein prior to determining a target alignment activation pattern from among alignment activation patterns based on the type of instrument installed from the operating device, the method further comprises:

Judging whether the main operation table and the operation part are allowed to be activated in an alignment mode;

determining that the para-position is allowed to be activated if at least one of the following conditions is satisfied; the conditions include that a head induction signal trigger is acquired, the communication between the master operation platform and the slave operation equipment is normal, and the slave operation equipment allows an alignment signal to trigger.

14. An alignment activation device for a surgical robot, the surgical robot including an operation unit and a slave operation device, the device comprising:

the activation mode selection module is used for determining a target alignment activation mode from alignment activation modes according to the type of the instrument installed from the operation equipment;

the operation instruction acquisition module is used for acquiring the operation instruction related to the target alignment activation mode;

and the alignment execution module is used for aligning the gesture of the operation part with the gesture of the end effector of the instrument in response to the operation instruction being triggered.

15. A surgical robot, comprising:

an operation unit;

a slave operating device; and

A controller coupled with the operation portion and the slave operation device and configured to perform the alignment activation method of the surgical robot according to any one of claims 1 to 13.

16. A computer readable storage medium, characterized in that it stores a computer program configured to be loaded by a processor and to execute a method of implementing the alignment activation of a surgical robot according to any of claims 1-13.