CN116807620B

CN116807620B - Surgical robot, control method thereof, and computer-readable storage medium

Info

Publication number: CN116807620B
Application number: CN202311093611.0A
Authority: CN
Inventors: 李建华; 王深辉; 叶国强; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2023-08-29
Filing date: 2023-08-29
Publication date: 2023-12-12
Anticipated expiration: 2043-08-29
Also published as: CN116807620A

Abstract

The present disclosure relates to a surgical robot, a control method thereof, and a computer-readable storage medium. The surgical robot includes an operation part having a joint assembly; a manipulator for mounting a medical instrument; a controller for: acquiring a target gesture of the end effector, and determining a target pointing direction of the end effector based on the target gesture; determining a direction of a resistance supposed to act on the end effector when a deviation angle between the target pointing direction and the initial pointing direction exceeds a pointing movement boundary of the end effector; determining the resistance based on the direction, the deviation angle and the pointing movement boundary; determining a target resistance actually acting on the tip of the operation section based on the resistance; determining a joint target drive torque desired to be output by the joint assembly based on the target resistance; and controlling the joint assembly to output a joint target driving torque. By the above embodiment, when the medical instrument has a problem exceeding the movement boundary, the force feedback with the prompt effect can be realized at the operation part.

Description

Surgical robot, control method thereof, and computer-readable storage medium

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a surgical robot, a control method thereof, and a computer-readable storage medium.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The surgical robot includes a master console and a slave manipulator including a plurality of medical instruments including image end effectors and surgical instruments including manipulating end effectors. The main console includes a display and an operation unit. The doctor operates the operation part to manipulate the image instrument or the surgical instrument motion under the field of view provided by the image instrument displayed by the display.

However, since the movement range of the operation portion and the movement range of the medical instrument are generally not uniform, when one of the operation portion and the medical instrument reaches the boundary of the movement range, problems of compromising safety and reliability are likely to occur due to continued manipulation or being manipulated in the out-of-range direction.

Disclosure of Invention

Accordingly, it is necessary to provide a surgical robot, a control method thereof, and a computer-readable storage medium, which can ensure safety and reliability.

In one aspect, the present disclosure provides a surgical robot comprising:

an operation part having a first joint component;

a manipulator for mounting a medical instrument and moving an end of the medical instrument to a first target attitude in response to moving the operation portion to a second target attitude, the medical instrument including a link, a wrist joint assembly, and an end effector as the end, which are sequentially connected, the link providing the end effector with a rotation degree of freedom, the wrist joint assembly providing the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, the end effector having an orientation relative to a coordinate axis of the rotation degree of freedom, the orientation including an initial orientation when the link, the wrist joint assembly, and the end effector are aligned in a straight state; a kind of electronic device with high-pressure air-conditioning system

A controller coupled with the operating portion and the manipulator, configured to:

acquiring the first target gesture, and determining a target pointing direction of the end effector based on the first target gesture;

determining a direction of a first resistance supposed to act on the end effector when a deviation angle between the target pointing direction and the initial pointing direction exceeds a pointing movement boundary of the end effector;

Determining a first resistance based on a direction of the first resistance, the deviation angle, and the pointing motion boundary;

determining a first target resistance force actually acting on the tip of the operation portion based on the first resistance force for virtually resisting the movement of the end effector to the pitch degree of freedom and/or the yaw degree of freedom in the first target posture, and for virtually resisting the movement of the tip of the operation portion to the pitch degree of freedom and/or the yaw degree of freedom in the second target posture;

determining a first joint target drive torque desired to be output by the first joint assembly based on the first target resistance;

controlling the first joint assembly to output the first joint target driving moment so as to realize force feedback at the operation part;

the first resistance, the first target resistance, and the first joint target driving force are generalized forces.

In another aspect, the present disclosure also provides a control method of a surgical robot, the surgical robot including:

an operation part having a first joint component;

a manipulator for mounting a medical instrument and moving an end of the medical instrument to a first target attitude in response to moving the operation portion to a second target attitude, the medical instrument including a link, a wrist joint assembly, and an end effector as the end, which are sequentially connected, the link providing the end effector with a rotation degree of freedom, the wrist joint assembly providing the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, the end effector having an orientation relative to a coordinate axis of the rotation degree of freedom, the orientation including an initial orientation when the link, the wrist joint assembly, and the end effector are aligned in a straight state;

The control method comprises the following steps:

determining a magnitude of the first resistance based on the deviation angle and the pointing motion boundary;

determining the first resistance by combining the direction and the magnitude of the first resistance;

In another aspect, the present disclosure also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and to execute steps of implementing a control method according to any one of the embodiments described above.

The surgical machine, the control method thereof and the computer readable storage medium have the following beneficial effects:

when the tail end of the medical instrument exceeds the motion boundary, virtual force is applied to the tail end, the virtual force is converted into the real force of the operation part, and then the joint component in the operation part is controlled to output the target joint driving force related to the real force; meanwhile, as the force sensor is not required to be arranged at the tail end of the medical instrument, the cost can be reduced, and the structure of the tail end can be simplified.

Drawings

FIG. 1 is a schematic view of the construction of a slave manipulator of an embodiment of the surgical robot of the present disclosure;

FIG. 2 is a schematic view of the manipulator assembly of one embodiment of the slave manipulator apparatus of FIG. 1;

FIG. 3 is a schematic view of a slave manipulator of another embodiment of the surgical robot of the present disclosure;

FIG. 4 is a schematic view of the structure of a main console of an embodiment of the surgical robot of the present disclosure;

FIG. 5 is a schematic view of an operation portion of an embodiment of a main console of the present disclosure;

FIG. 6 is a schematic view of a portion of an embodiment of the operation portion shown in FIG. 5;

FIG. 7 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 8 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 9 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 10 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 11 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 12 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 13 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 14 is a partial schematic view of an embodiment of a surgical robot of the present disclosure in a surgical state;

FIG. 15 is a partial schematic view of another embodiment of a surgical robot of the present disclosure in a surgical state;

FIG. 16 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 17 is a schematic view of an embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 18 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 19 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 20 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 21 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 22 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 23 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 24 is a schematic view of another embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 25 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 26 is a schematic view of an embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 27 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 28 is a schematic view of an embodiment of a display interface associated with an superboundary section in a surgical robot of the present disclosure;

FIG. 29 is a flow chart of an embodiment of a control method of the surgical robot of the present disclosure;

FIG. 30 is a flow chart of another embodiment of a control method of the surgical robot of the present disclosure;

fig. 31 is a schematic structural view of a controller of a surgical robot according to an embodiment of the present disclosure.

Description of the embodiments

In order that the disclosure may be understood, a more complete description of the disclosure will be rendered by reference to the appended drawings. Preferred embodiments of the present disclosure are shown in the drawings. This disclosure may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used in this disclosure for illustrative purposes only and do not represent the only embodiment. The terms "distal" (i.e., distal) and "proximal" are used in this disclosure as directional terms that are conventional in the art of interventional medical devices, where "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. The terms "first/second" and the like as used in this disclosure may refer to one component as well as a class of more than two components having common characteristics.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The term "and/or" as used in this disclosure includes any and all combinations of one or more of the associated listed items. The terms "each," "plurality," and "plurality" as used in this disclosure include one or more than two.

Surgical robots include various types including, for example, laparoscopic surgical robots suitable for use in pleuroperitoneal cavity surgery, including, for example, endoscopic surgical robots suitable for use in natural cavity surgery such as bronchial surgery. These types of surgical robots typically include more than two relatively independent arms with joint assemblies, the motion of one arm being used as input to control the associated motion of the other arm. The control method according to the present disclosure is applicable to a surgical robot having two or more arms, and in which movement of one arm can cause movement of the other arm.

In some embodiments, a laparoscopic surgical robot includes a slave manipulator, and a master manipulator operable to manipulate the slave manipulator. Different slave operating devices can be operated by a master operating platform with the same structure or by a master operating platform with different structures, so that the specific types of the laparoscopic surgical robots are not generally distinguished by taking the master operating platform as a standard. The specific type of laparoscopic surgical robot may be differentiated according to the construction of the operating device. For example, a laparoscopic surgical robot to which a plurality of medical instruments are inserted into a patient through different surgical channels provided by the same puncture outfit connected to the patient and corresponding to a slave operating device may be referred to as a single-port laparoscopic surgical robot. For another example, a laparoscopic surgical robot to which a plurality of medical instruments are inserted into a patient through surgical channels provided by a plurality of different puncture devices connected to the patient and which corresponds to a slave operating device may be referred to as a multi-hole laparoscopic surgical robot. These medical instruments generally include imaging instruments for providing a field of view and surgical instruments for surgical procedures such as cutting, stapling.

Fig. 1 illustrates a single port laparoscopic surgical robot. As shown in fig. 1, in the single port laparoscopic surgical robot, the slave operating device 100 includes a driving arm including a main arm 110 and a manipulator assembly 120 connected in sequence, both of which are provided with joint assemblies, and the main arm 110 can adjust the position and/or posture of the manipulator assembly 120. Referring to fig. 2, the manipulator assembly 120 includes a housing 130 coupled to an end of the main arm 110, a manipulator 140 accommodated in the housing 130, and a medical instrument 150 detachably mounted to the manipulator 140. The manipulator 140 includes a plurality of manipulators 140, and the manipulators 140 are all accommodated in the housing 130 and are connected to the tail ends of the main arms 110 in parallel through the housing 130, and the movement of the main arms 110 can cause the joint movement of the manipulators 140 in position and/or posture. Typically, manipulator 140 has at least one articulation assembly to provide, for example, a degree of feed freedom in the working space to adjust the depth of insertion of medical instrument 150 into the patient. The medical instrument 150 may include a plurality, typically the same number as or less than the number of manipulators 140, and the medical instrument 150 may also include a plurality of joint assemblies that may provide a plurality of degrees of freedom in the operating space under the drive of the manipulators 140 to achieve all other degrees of freedom, including, for example, a horizontal translational degree of freedom, a vertical translational degree of freedom, a rotational degree of freedom, a yaw degree of freedom, and a pitch degree of freedom, except for the feed degree of freedom. The feeding freedom degree, the horizontal translation freedom degree and the vertical translation freedom degree are three position freedom degrees of an operation space, and the autorotation freedom degree, the deflection freedom degree and the pitching freedom degree are three attitude freedom degrees of an operation space. In fig. 1, a plurality of medical devices 150 are inserted into a patient through the same puncture instrument 400.

Fig. 3 illustrates a multi-hole laparoscopic surgical robot. As shown in fig. 3, in the multi-hole laparoscopic surgical robot, the slave operating device 200 includes a driving arm including a main arm 210, an adjusting arm 220, and a manipulator assembly 230, which are sequentially connected, all of which are provided with joint assemblies. The adjustment arms 220 include a plurality of proximal ends each coupled to a distal end of the main arm 210, and the distal end of the main arm 210 includes an orientation platform 215, i.e., the proximal ends of each adjustment arm 220 are each coupled to the orientation platform 215, and the main arm 210 can adjust the position and/or attitude of the adjustment arms 220 and the manipulator assembly 230. The manipulator assembly 230 includes a plurality of the same number as the adjustment arms 220, the proximal end of the manipulator assembly 230 being coupled to the distal end of the adjustment arms 220, the adjustment arms 220 being capable of adjusting the position and/or attitude of the manipulator assembly 230. Manipulator assembly 230 includes a manipulator 240 and a medical instrument 250 removably mounted to manipulator 240, both of which include a plurality of joint assemblies. The manipulator 240 includes a parallelogram mechanism, which, using the parallelogram principle, can define that the manipulator 240 can perform rotational movements about a Remote Center of motion (RC). The joint assembly of manipulator 240 may include a plurality of degrees of freedom in the operating space including, for example, a feed degree of freedom, a yaw degree of freedom, and a pitch degree of freedom, each of which performs rotational motion about RC. The joint assembly of the medical instrument 250 may provide multiple degrees of freedom in the operating space under the drive of the manipulator 240 including, for example, rotational degrees of freedom, yaw degrees of freedom, and pitch degrees of freedom. Wherein the feeding degree of freedom of the manipulator 240 adjusts the depth of insertion of the medical instrument 250 into the patient, the yaw degree of freedom and the pitch degree of freedom of the manipulator 240 can affect both the position of the medical instrument 250 and the posture of the medical instrument 250, and the rotation degree of freedom, the yaw degree of freedom and the pitch degree of freedom of the medical instrument 250 mainly affect the posture of the medical instrument 250, and the influence on the position of the medical instrument 250 can be ignored. In fig. 2, a plurality of medical devices 250 are inserted into a patient through different penetrators 500, respectively.

In some embodiments, the master console 300 as shown in fig. 4 may be provided relatively independently of the slave operating device 100 shown in fig. 1 or the slave operating device 200 shown in fig. 2. They can be located in close proximity, for example in the same room, within a few meters of each other; they may also be located remotely, for example in different cities, thousands of kilometers away.

With continued reference to fig. 4, the main console 300 may include an operator portion 310 and a display. One main console 300 may include more than one operation section 310, for example, two. The operation part 310 may include a plurality of joint assemblies, and the operation part 310 having the plurality of joint assemblies may be regarded as one arm body in the surgical robot.

Referring to fig. 5 and 6, the operation portion 310 may include a connection member 101, a base 12, an operation assembly 15, and at least one driving arm, where the connection member 101, the base 12, the at least one driving arm, and the operation assembly 15 are sequentially rotatably connected. The end of the connector 101 remote from the base 12 is connected to the associated components of the main console 300. The operation assembly 15 is configured to receive an operation of an operator, and the operation assembly 15 may include a handle 151, and a user performs a related operation on the operation portion 310 by grasping the handle 151 to transmit a control command to the slave operation device 100 or the slave operation device 200. The tip of the operation portion 310 mentioned in the present disclosure may refer to the handle 151, for example.

The number of driving arms may be determined according to the actual execution requirement, for example, when the motion to be executed is simpler, one driving arm may be selected, one end of the driving arm is connected to the base 12, the other end of the driving arm is connected to the operation assembly 15, and when the motion to be executed is more complex, two or more driving arms may be selected, and the more driving arms, the higher the number of the driving arms, the higher the degree of freedom, and the more complex operation may be executed.

The present embodiment will be described taking two drive arms as an example. The two drive arms are a first arm 13 and a second arm 14, respectively. The second arm 14 is rotatably connected to the first arm 13, an end of the first arm 13 remote from the second arm 14 is rotatably connected to the base 12, and an end of the second arm 14 remote from the first arm 13 is rotatably connected to the operating assembly 15, wherein rotation of the first arm 13 and the second arm 14 provides at least two degrees of freedom of movement of the operating assembly 15.

In this embodiment, the base 12 rotates along the first axis A1 relative to the connector 101, the first arm 13 rotates along the second axis A2 relative to the base 12, and the second arm 14 rotates along the third axis A3 relative to the first arm 13. Wherein the first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 and the third axis A3 are parallel, such that rotation of the base 12, the first arm 13 and the second arm 14 allows movement of the operating assembly 15 in three dimensions.

As shown in fig. 6, the operation portion 310 may further include a first gravity compensation mechanism 200, the first gravity compensation mechanism 20 being connected between the base 12 and the first arm 13 to generate a moment that balances the gravitational moment of the parallelogram mechanism in a first degree of freedom of rotation about the second axis A2. In some embodiments, the first gravity compensation mechanism 20 may include a first rotation mechanism 201 and a first elastic compensation mechanism 202. The first rotating mechanism 201 may include a plurality of rotating portions disposed at the first mounting plate 123 and the first arm 13 of the base 12.

For ease of understanding, the first rotation mechanism 201 may include a rotation portion of the first portion and a rotation portion of the second portion. Illustratively, the first portion of the rotating portion is disposed on the first mounting plate 123 and the second portion of the rotating portion is disposed on the arm turntable 132 of the first arm 13. Wherein the first elastic compensation mechanism 202 is coupled between the body turntable of the base 12 and the first rotating mechanism 201 to generate a moment for balancing the gravitational moment of the parallelogram mechanism in the first degree of freedom, so that the user can easily drag the operation portion 310 in the first degree of freedom. In some embodiments, the endoscopic surgical robot may also include a master console and a slave manipulator. The slave manipulator includes two mechanical arms and a catheter instrument detachably mounted at the distal ends of the two mechanical arms. The catheter instrument comprises an inner catheter instrument and an outer catheter instrument, wherein the outer catheter instrument is arranged on one of the two mechanical arms, the inner catheter instrument is arranged on the other one of the two mechanical arms, and when the catheter instrument works, the outer catheter instrument and the inner catheter instrument face in the same direction and are inserted into the outer catheter instrument in the same direction for use.

In some embodiments, the surgical robot further comprises a controller. For example, the controller may be disposed at the main console 300. For another example, a controller may be disposed at the slave operating device 100 (or 200). For another example, the controller may be deployed at the cloud. For another example, the controllers include a first controller disposed at the master console 300 and a second controller disposed at the slave operating device 100 (or 200); alternatively, the first controller is deployed at the cloud, and the second controller is deployed at the master console 300 or the slave operating device 100 (or 200). For another example, the controllers include a first controller disposed on the master console 300, a second controller disposed on the slave operating device 100 (or 200), and a third controller disposed on the cloud. Wherein the controller comprises one or more processors, the steps of the control method of the present disclosure may be executed in one processor of the controller or may be executed in a plurality of processors of the controller.

The controller may generally be coupled to any electrical component. For example, a controller may be coupled to the operating portion 310, the display, and the drive arm, respectively, the controller being coupled to the drive arm, including the controller being coupled to any of the arms.

In a single port laparoscopic surgical robot, the present disclosure relates to a control method that is applicable to a surgical robot having more than two arms, and where movement of one arm may cause movement of the other arm. One of the arms is selected from the operator portion 310 of the master console 300 and the other arm is selected from at least a portion of the drive arm of the slave manipulator apparatus 100, such as the manipulator assembly 120, including the manipulator 140 and the medical instrument 150.

In the multi-hole laparoscopic surgical robot, the control method according to the present disclosure is applicable not only to the operation part 310 in which one arm body is selected from the main operation table 300, but also to at least part of the driving arm of the slave operation device 200, such as the manipulator assembly 230 including the manipulator 240 and the medical instrument 250; it is also applicable that the two arm bodies are respectively selected from two parts of the drive arm of the slave manipulator device 200, such as two manipulator assemblies 230, and such as two adjustment arms 220 and their respective connected manipulator assemblies 230.

In an endoscopic surgical robot, the control method according to the present disclosure is applied to at least a portion of the two arms respectively selected from the two mechanical arms in the slave manipulator.

For example, in the single-hole or multi-hole laparoscopic surgical robots described above, the manipulator portion 310 of the main manipulator 300 may be configured to manipulate (i.e., control) any portion of the arm motions in the drive arm. Specifically, the driving arm may be configured to receive manipulation of the operation portion 310 according to a surgical requirement. In some embodiments, movement of any portion of the arms in the drive arm may also counteract the operation portion 310, causing corresponding movement of the operation portion 310.

For example, in the multi-hole laparoscopic surgical robot described above, the drive arm may be configured to include two independent arms from the operating device 200, wherein manipulation (e.g., dragging) of one arm will cause coordinated movement of the other arm. Such a configuration may also be suitable for use in an endoscopic surgical robot, i.e., where manipulation of one of the robotic arms will cause coordinated movement of the other robotic arm.

In some embodiments, for example in a laparoscopic surgical robot, at least two modes of operation may be configured, including a master-slave following mode and a master-slave alignment mode. The master-slave following mode is mainly used for surgical operation in surgery, and refers to that the operation part 310 of the master operation table 300 outputs position and/or posture instructions, and the tail end of at least part of arm bodies in the driving arm of the slave operation device 100 (or 200) is controlled to adjust the position and/or posture based on the position and/or posture instructions. The master-slave alignment mode is mainly used in a preparation process before operation, so as to quickly enter a master-slave following mode, that is, at least a part of arms in a driving arm of the slave operation device 100 (or 200) output a gesture command related to the gesture of the tail end of the part of arms, and the operation part 310 of the master operation platform 300 is controlled to adjust the gesture based on the gesture command to align with the gesture of the tail end of the part of arms, so that the gesture of the master operation platform and the gesture of the part of arms do not need to be manually aligned, and further, an operator can intuitively operate the master operation platform. The distal end of at least a portion of the arm body in the drive arm may be formulated from any configuration in the drive arm, and in one embodiment, the distal end may generally refer to the distal end of a medical instrument, and more particularly, to the end effector of a medical instrument.

Whether in the above-described master-slave following mode or the above-described master-slave alignment mode, the present disclosure may define an arm body that generates a command such as a position command and/or a posture command by a motion as a master arm, and define an arm body that moves based on the command as a slave arm. Based on this, an object of at least one aspect of the control method of the present disclosure includes, when manipulating the movement of the slave arm by the operator controlling the master arm, generating a force feedback at the master arm to alert the operator if the movement of the slave arm exceeds its corresponding movement boundary. The method can generate proper force feedback on the driving arm without arranging any force or moment sensor on the driven arm to detect the resistance or the resistance moment of the driven arm.

The control method of the surgical robot of the present disclosure is exemplified below based on the angle of the operation mode.

In some embodiments, in master slave following mode, the control methods of the present disclosure are applicable to single port laparoscopic surgical robots and multi-port laparoscopic surgical robots. In the master slave following mode, the manipulator assembly 120 (or 230) is typically manipulated by the manipulator to effect control of the end of the medical instrument 150 (or 250), i.e., the end effector.

In some embodiments, referring to fig. 7, the control method includes:

step S101, a first current pose and a first target pose of a distal end of a medical instrument are acquired.

The current pose is the pose of the tail end of the medical instrument at the current moment, namely the actual pose; the target pose, e.g., the first target pose, is the pose of the tip of the desired medical instrument at the next moment.

The driving arm is provided with a sensor for sensing the joint variable of each joint component. For example, where the plurality of joint components of the drive arm includes a translating joint component, the joint variable includes a joint displacement value; where the plurality of joint components of the drive arm includes a revolute joint component, the joint variable includes a joint angle value.

The "pose" concept is generally described in the operating space, i.e., the Cartesian space or task space.

The first current pose may be obtained by sensing joint variables of joint components in the manipulator and the medical instrument, in combination with joint variables and positive kinematics.

Teleoperation of the surgical robot may employ incremental pose control. The first target pose of the tip of the medical instrument may be determined based on the first current pose and the first incremental pose of the tip of the medical instrument. The first incremental pose may be determined based on a second incremental pose between moving the operating portion from a second current pose of the operating portion to a second target pose. The second current pose and the first current pose are known, and it can be simply understood that the first target pose is determined based on the second target pose, considering only the variables.

The incremental pose may include an incremental position and an incremental pose, which may be scaled to ensure surgical safety when incremental pose control is employed, without special treatment of the incremental pose to maintain the follow-up on the pose.

Step S102, detecting whether the first current pose reaches a motion boundary or not, and detecting whether the first target pose exceeds the motion boundary or not.

Based on physical or software constraints, the distal end of the medical instrument often has a defined motion boundary.

Executing step S103 when the first current pose reaches a motion boundary and the first target pose exceeds the motion boundary; otherwise, step S107 is performed.

Step S103, determining a first resistance supposed to act on the tip of the medical instrument based on the first target pose and the first current pose.

"imaginary" means virtual, and also means not actually present. It can be seen that the first resistance is a virtual force for virtually resisting movement of the distal end of the medical instrument toward the first target pose, i.e., not actually resisting movement of the distal end of the medical instrument toward the first target pose.

Step S104 of determining a second resistance force actually acting on the tip of the operation section based on the first resistance force.

The second resistance is a true force that actually exists and will act on the tip of the operating portion for actually resisting movement of the tip of the operating portion toward the second target pose.

Step S105, determining a joint target driving force to be output by the joint assembly in the operation section based on the second resistance.

In this step S105, the joint target driving force may be determined by means of a statics equation. The statics equation is typically expressed as:

。

wherein,indicating a joint target driving force; />The transpose of the force jacobian matrix representing the operation part can be performed by moving the robot by the force jacobian matrix +.>Transposed to obtain the jacobian matrix +.>Joint variable of joint assembly capable of being based on operation partDetermining in real time; />Representing a second resistance.

Step S106, controlling the joint assembly in the operation section to output the joint target driving force.

In general, the joint assembly may include a driving motor as a driving mechanism. The driving motor comprises three control modes, namely a position mode, a speed mode and a torque mode. In step S106, the torque mode is used to control the joint assembly to output the joint target driving force to achieve force feedback at the operating portion, thereby prompting the operator not to move the operating portion toward the second target pose.

Step S107, determining a target joint variable of a joint assembly in the manipulator and the medical instrument based on the first target pose.

Wherein the target joint variable can be determined by means of inverse kinematics.

Step S108, controlling the joint component in the manipulator and the medical instrument to output the target joint variable.

In step S108, the position mode control joint assembly outputs the target joint variable so as not to limit movement of the distal end of the medical instrument when the first current pose of the distal end of the medical instrument does not reach the movement boundary and/or the first target pose does not exceed the movement boundary.

The various forces involved in the present disclosure, such as the first resistance, the second resistance, and the joint target driving force, may each be a generalized force including at least one of a force and a moment.

In some embodiments, the motion boundary of the tip of the medical instrument includes at least one of a position motion boundary and a pose motion boundary of the operating space. Correspondingly, the acquired first current pose comprises at least one of a current position and a current pose, and the acquired first target pose comprises at least one of a target position and a target pose. The position overrun problem and the posture overrun problem can be handled separately, for example, the position overrun refers to that one or more position degrees of freedom of the tail end of the medical instrument exceed a position movement boundary which is determined by the movement range of all the position degrees of freedom of the manipulator assembly together, and the one or more posture degrees of freedom of the tail end of the posture overrun medical instrument exceed a posture movement boundary which is determined by the movement range of all the posture degrees of freedom of the manipulator assembly together.

For example, for a location overrun problem, step S102 described above may include detecting whether the current location reaches a location movement boundary and detecting whether the target location exceeds the location movement boundary.

Wherein when the current position reaches the position movement boundary and the target position exceeds the position movement boundary, the step S103 may further include controlling the distal end of the medical instrument to maintain the first current pose. By controlling the distal end of the medical instrument to maintain the first current pose, damage or safety issues due to excessive manipulation of the manipulator and/or medical instrument may be prevented.

In some embodiments, the step of controlling the tip of the medical instrument to maintain the first current pose may include controlling the tip of the medical instrument to maintain a current position.

In some embodiments, when the first current pose further includes a current pose and the target pose further includes a target pose, the step of controlling the distal end of the medical instrument to maintain the first current pose may include controlling the distal end of the medical instrument to maintain the current position and the current pose.

In some embodiments, when the current pose does not reach the motion boundary and/or the target pose does not exceed the motion boundary, the step of controlling the tip of the medical instrument to maintain the first current pose may also include controlling the tip of the medical instrument to maintain the current position and controlling the tip of the medical instrument to move in accordance with the target pose such that the tip of the medical instrument is always aligned with the pose of the operation portion.

Wherein step S103 described above, i.e., determining the first resistance of the tip of the hypothetical applied medical instrument based on the first target pose and the first current pose, may include determining the first resistance of the tip of the hypothetical applied medical instrument based on the target position and the current position. The method may include obtaining a first position movement boundary impedance model and determining the first resistance based on the target position, the current position, and the first position movement boundary impedance model.

For another example, for the gesture overrun problem, the step S102 may include detecting whether the current gesture reaches the gesture motion boundary and detecting whether the target gesture overruns the gesture motion boundary.

Wherein the step of controlling the tip of the medical instrument to maintain the first current pose when the current pose reaches the pose motion boundary and the target pose exceeds the pose motion boundary may include controlling the tip of the medical instrument to maintain the current pose.

In some embodiments, when the first current pose further comprises a current position and the target pose further comprises a target position, the step of controlling the tip of the medical instrument to maintain the current pose may comprise controlling the tip of the medical instrument to maintain the current pose and the current position.

In some embodiments, when the current pose does not reach the motion boundary and/or the target pose does not exceed the motion boundary, the step of controlling the tip of the medical instrument to maintain the current pose may also include controlling the tip of the medical instrument to maintain the current pose and move along with the target position, and only the pose needs to be adjusted subsequently.

Wherein step S103 described above may include determining a first resistance that is supposed to act on the tip of the medical instrument based on the target pose and the current pose. The method may include obtaining a first gestural motion boundary impedance model and determining the first resistance based on the target pose, the current pose, and the first gestural motion boundary impedance model.

In the above embodiment, only when there is a problem of position overrun, the first resistance is only related to the position; when the problem of gesture overrun exists, the first resistance is only related to the gesture; when both the position and the posture are out of range, the first resistance may be a superposition of the position-related resistance and the posture-related resistance.

In some embodiments, step S104 described above may include a conversion process of converting the first resistance from a first coordinate system of the distal end of the medical instrument to a second coordinate system of the distal end of the operation portion. The conversion process may include:

The first resistance of the distal end of the medical instrument in the first coordinate system is converted to a first intermediate resistance of the distal end of the medical instrument in the first intermediate coordinate system. The first intermediate resistance is a virtually existing force, i.e. a virtual force.

A second intermediate resistance of the tip of the operating portion in the second intermediate coordinate system is determined based on the first intermediate resistance of the tip of the medical instrument in the first intermediate coordinate system. The second intermediate resistance is the force actually present, i.e. the true force.

The second intermediate resistance of the tip of the operating portion in the second intermediate coordinate system is converted into a second resistance of the second coordinate system.

The first coordinate system includes, for example, a base coordinate system of the medical instrument configured to be coupled to an end face of the manipulator at a proximal end of the medical instrument; the first intermediate coordinate system is illustratively a tool coordinate system comprising an end effector in an image instrument, sometimes also referred to as an endoscope coordinate system, e.g., configured to be at a distal face of the end effector in the image instrument; the second intermediate coordinate system illustratively includes a display coordinate system, e.g., the display coordinate system is configured to be at a display surface of a display; the second coordinate system is exemplified by a base coordinate system including the operation section, for example, the base coordinate system of the operation section is configured to be a position connected to the main console at the proximal end of the operation section.

In the master-slave mode of operation, the second resistance obtained by the coordinate conversion process described above can provide intuitive force feedback to the operator upon operation. The "intuition" includes that the movement direction of the end effector observed by the doctor on the display is consistent with the movement direction of the operation part operated by the doctor, and the stress direction of the end effector observed by the eyes of the doctor in the operation image displayed on the display is basically consistent with the stress direction felt by the operation part operated by the doctor, so that the experience of approaching intuition is realized in vision and touch sense.

In some embodiments, determining the second resistance actually acting on the tip of the operation portion based on the first resistance may include only the coordinate conversion process described above. That is, the second resistance determined by the first resistance may not be transformed in magnitude of the resistance, in other words, the magnitude of the second resistance may be the same as the magnitude of the first resistance.

In some embodiments, the magnitude of the second resistance may be different from the magnitude of the first resistance, which may include being entirely different as well as partially different. That is, determining the second resistance that actually acts on the tip of the operation portion based on the first resistance may further include a resistance magnitude conversion process. The resistance magnitude transformation process primarily modifies a first resistance that varies relatively gently to a second resistance that varies relatively strongly, for example, to enhance the feeling of force that an operator can experience.

In some embodiments, for the problem of out-of-position, the resistance magnitude transformation process may include: a second positional movement boundary impedance model is acquired and the second resistance is determined based on the first resistance and the second positional movement boundary impedance model.

Preferably, the second resistance determined by the second positional movement boundary impedance model has an improvement in slope and/or rate of change of slope over the first resistance determined by the first positional movement boundary impedance model. The improvement comprises at least a local slope increase. For example, the improvement may include a local slope decrease, a local slope increase.

Illustratively, the first positional movement boundary impedance model is expressed as the following formula:

，

in the formula (1),representing a first resistance; />Representing the spring rate; />Representing the current position of the tip of the medical instrument and which reaches a position movement boundary; />Representing the target position of the tip of the medical instrument and which exceeds the position movement boundary. Exemplary, ->The value range of (2) is between 0 and 10]。

Illustratively, the second positional movement boundary impedance model is expressed as the following formula:

（2）

in the formula (2),representing a second resistance; />A mode length representing the first resistance; />Representing the spring rate; / >Representing a rigidity coefficient and reflecting the rigidity of the impedance model; />The maximum resistance threshold, representing the second resistance, reflects the strength of the resistance model. Wherein (1)>Indicating the magnitude of the second resistance; />Indicating the direction of the second resistance. In the formula (2), ∈>Is not infinitely large and is just about>Boundary passing of->To define, the restriction may be performed according to the force feeling requirement of the operator on the operation portion and the maximum driving force that can be provided by the joint assembly in the operation portion.

By way of example only, and not by way of limitation,the value range of (2) is between 0 and 10]，/>The value range of (2) is between 0 and 5]，/>The value range of (2) is between 0 and 5]。

In some embodiments, for the pose out-of-boundary problem, the resistance magnitude transformation process may include: a second gestural motion boundary impedance model is obtained and the second resistance is determined based on the first resistance and the second gestural motion boundary impedance model.

Preferably, the second resistance determined by the second gestural motion boundary impedance model has an improvement in slope and/or rate of change of slope compared to the first resistance determined by the first gestural motion boundary impedance model. The improvement comprises at least a local slope increase. For example, the improvement may include a local slope decrease, a local slope increase.

Illustratively, the first gestural motion boundary impedance model is expressed as follows:

（3）

In the formula (3),representing the first resistance; />Representing a deviation between the target pose and the current pose;representing an antisymmetric matrix; v denotes an operator that converts an antisymmetric matrix into a vector. Wherein the deviation->Can be determined using the following formula.

(4)

In the formula (4) of the present invention,representing a target pose; />Representation->Is the inverse of (2); />The current pose is represented and it reaches the pose boundary.

Illustratively, the second gestural motion boundary impedance model is expressed as follows:

(5)

in the formula (5) of the present invention,representing a second resistance; />A mode length representing the first resistance; />Representing the spring rate; />Representing the stiffness coefficient; />A maximum resistance threshold representing the second resistance. Wherein (1)>Indicating the magnitude of the second resistance;indicating the direction of the second resistance. In the formula (5), ∈>Is not infinitely large and is just about>Boundary passing of->To define, the restriction may be performed according to the force feeling requirement of the operator on the operation portion and the maximum driving force that can be provided by the joint assembly in the operation portion.

By way of example only, and not by way of limitation,the value range of (2) is between 0 and 10]，/>The value range of (2) is between 0 and 5]，/>The value range of (2) is between 0 and 1]。

In some embodiments, the second resistance actually applied to the operation portion includes a portion of the second resistance determined due to the position exceeding the position movement boundary and a portion of the second resistance determined due to the posture exceeding the posture movement boundary. In the above-described step S105, a portion of the second resistance determined due to the position exceeding the position movement boundary and a portion of the second resistance determined due to the posture exceeding the posture movement boundary may be superimposed to determine the second resistance that is ultimately actually applied to the operation portion, and then the driving joint force of the joint assembly in the operation portion may be determined based on the superimposed second resistance. In the above step S105, a part of the driving joint force of the joint assembly in the operation section may be determined based on the part of the second resistance determined by the position exceeding the position movement boundary, and a part of the driving joint force of the joint assembly in the operation section may be determined based on the part of the second resistance determined by the posture exceeding the posture movement boundary, and the two parts of the driving joint forces may be superimposed to obtain the final driving joint force of the joint assembly in the operation section.

In some embodiments, the manipulator space and the joint space may be interconvertible in robotics. For example, with known joint variables of the manipulator and joint assembly of the medical instrument in joint space, the pose of the end of the medical instrument in the operating space may be determined in conjunction with forward kinematics; joint variables of the manipulator and the joint assembly of the medical instrument in the joint space may be determined in combination with inverse kinematics under the condition that the pose of the distal end of the medical instrument in the operating space is known. It will be appreciated that the end of the medical instrument reaching a boundary at the first current pose of the operating space or the first target pose exceeding the boundary may be mapped to manipulator and medical instrument reaching or exceeding the articulation boundary of the respective joint component at one or some joint component of the joint space. Therefore, the present disclosure may also discuss the problem of pose overstepping of the distal end of the medical instrument based on the angle of the joint space.

In some embodiments, for the pose out-of-limit problem, the step S102 may include:

a target joint variable of the joint assembly of the manipulator and the medical instrument is determined based on the first target pose, and a current joint variable of the joint assembly of the manipulator and the medical instrument is determined based on the first current pose.

A target joint component is determined from the joint components of the manipulator and the medical instrument that satisfies a first condition including a current joint variable of the target joint component reaching an articulation boundary of the target joint component and the target joint variable exceeding the articulation boundary of the target joint component.

When there is a target joint component that satisfies the first condition, it indicates that in step S102, a situation that the first current pose reaches the motion boundary and the first target pose exceeds the motion boundary is detected.

Referring to fig. 8, the step S103 may include:

step S1031, determining joint driving force supposed to act on the target joint component based on the target joint variable and the current joint variable of the target joint component.

Step S1032 assigns zero to the joint driving force of the non-target joint component of the manipulator and the medical instrument that does not satisfy the first condition.

Step S1033, determining a first resistance force supposed to act on the distal end of the medical instrument based on the joint driving force of the target joint assembly and the joint driving force of the non-target joint assembly.

In an embodiment, the implementation method of step S1031 may include obtaining a joint boundary impedance model, and determining the joint driving force supposed to act on the target joint component by combining the target joint variable, the current joint variable, and the joint boundary impedance model of the target joint component.

Illustratively, the joint boundary impedance model is expressed as the following formula:

(6)

in the formula (6) of the present invention,a joint driving force assumed to act on the i-th target joint component; />Representing the spring rate; />Representing the stiffness coefficient; />A target joint variable representing an ith target joint component; />A positive value representing the articulation boundary (corresponding to the current joint variable at which the target joint reached the articulation boundary) of the ith target joint component; />Representing the negative value of the articulation boundary (corresponding to the current joint variable at which the target joint reached the articulation boundary) of the ith target joint component. Exemplary, ->The value range of (2) is between 0 and 10]，/>The value range of (2) is between 0 and 5]。

In step S1033, the joint driving forces of the joint assemblies of the manipulator and the medical device may be combined into force vectors expressed in the form of a matrix as follows:

(7)

in the formula (7) of the present invention,a force vector representing a combination of joint driving forces of the joint assembly of the manipulator and the medical instrument.

Then, by directly solving for the inverse solution of statics, the first resistance of the distal end of the medical instrument in the operation space can be obtained based on the joint driving forces of the manipulator and the joint assembly of the medical instrument in the joint space. Wherein, the solving formula is expressed as:

(8)

In the formula (8), the expression "a",a first resistance representing the tip of the medical instrument in the operating space; />An inverse of the transpose of the force jacobian matrix representing the manipulator and the medical instrument; />Transpose of the force jacobian matrix representing manipulator and medical instrument by kinematic jacobian matrix for robot>Transposed to obtain the jacobian matrix +.>The joint variables of the joint assembly based on the manipulator and the medical instrument may be determined in real time.

In some embodiments, both single port laparoscopic surgical robots and multi-port laparoscopic surgical robots require the use of manipulators and medical instruments in performing the procedure. However, single port laparoscopic surgical robots generally rely more flexibly on more degrees of freedom and a greater range of motion provided by the medical instrument itself than multi-port laparoscopic surgical robots, e.g., the medical instrument of a single port laparoscopic surgical robot generally includes more joint assemblies than the medical instrument of a multi-port laparoscopic surgical robot, which may provide more degrees of freedom and a greater range of motion. Therefore, preferably, when the parameters of each motion boundary impedance model are configured, the rigidity and/or strength of the single-hole laparoscopic surgery robot can be configured to be correspondingly smaller than that of the multi-hole laparoscopic surgery robot so as to provide better force feeling for an operator.

In some embodiments, at least one of the type of surgical robot and the type of medical instrument may be identified, whether the type of surgical robot or the type of medical instrument may reflect the extent of the range of motion of the medical instrument, and the control method of the present disclosure may further utilize such a feature to automatically recommend or configure parameters of each motion boundary impedance model for different types of surgical robots or medical instruments, and the control method of the present disclosure may further include:

the type of surgical robot or medical instrument is identified. Types of surgical robots include single port laparoscopic surgical robots and multi-port laparoscopic surgical robots, among others. Types of medical instruments include medical instruments suitable for single port laparoscopic surgical robots and medical instruments suitable for multi-port laparoscopic surgical robots.

Recommending or configuring at least one of a first valued stiffness coefficient and a first valued maximum resistance threshold for the at least one motion boundary impedance model when the identified surgical robot is a single port laparoscopic surgical robot or when the identified medical instrument is a medical instrument suitable for a single port laparoscopic surgical robot; at least one of a second valued stiffness coefficient and a second valued maximum resistance threshold is recommended or configured for the at least one motion boundary impedance model when the identified surgical robot is a multi-hole laparoscopic surgical robot or when the identified medical instrument is a medical instrument suitable for a multi-hole laparoscopic surgical robot. Wherein the second valued stiffness coefficient is generally greater than the first valued stiffness coefficient, and the second valued maximum resistance threshold is greater than the first valued maximum resistance threshold.

This method of configuring the parameters of the motion boundary impedance model is applicable to the above-described formulas (2), (5), and (6), for example. For example, it may be applicable to the determination of the stiffness coefficient and the maximum resistance threshold in the formulas (2), (5). For example, it may be applied to the determination of the stiffness coefficient in the formula (6).

Illustratively, for equation (2) above:

if a multi-hole laparoscopic surgical robot or a medical instrument suitable for the multi-hole laparoscopic surgical robot is identified, the stiffness coefficientFor example, the value is 1.5, the maximum resistance threshold value +.>For example, the value may be 3N (or, N/m). If a single port laparoscopic surgical robot or medical instrument suitable for a single port laparoscopic surgical robot is identified, justCoefficient of degree->For example, the value is 1.2, the maximum resistance threshold value +.>For example, the value may be 0.8N (or N/m). In addition, the spring rates of both may take any suitable value, for example, 1.

Illustratively, for equation (5) above:

if a multi-hole laparoscopic surgical robot or a medical instrument suitable for the multi-hole laparoscopic surgical robot is identified, the stiffness coefficientFor example, the value is 2, the maximum resistance threshold value +.>For example, the value may be 3N/m (or N). If a single port laparoscopic surgical robot or a medical instrument suitable for a single port laparoscopic surgical robot is identified, the stiffness coefficient is +. >For example, the value is 1.2, the maximum resistance threshold value +.>For example, the value may be 0.8N/m (or N). In addition, the spring rates of both may take any suitable value, for example, 0.01.

Illustratively, for equation (6) above:

if a multi-hole laparoscopic surgical robot or a medical instrument suitable for the multi-hole laparoscopic surgical robot is identified, the stiffness coefficientFor example, the value may be 2. If a single port laparoscopic surgical robot or a medical instrument suitable for a single port laparoscopic surgical robot is identified, the stiffness coefficient is +.>For example, the value may be 1.2. Furthermore, the spring constants of both +.>Any suitable value may be used, for example, a value of 1.

In some embodiments, in the step S105, when determining the joint target driving force that is expected to be output by the joint assembly in the operation portion, other forces that are expected to actually act on the operation portion may be superimposed, where the forces may include one or more expected effects, and the forces are also generalized forces.

In one embodiment, the desired superimposed force may be a damping force for accumulating potential energy generated when the second resistance force is actually consumed to act on the tip of the operation portion. Referring to fig. 9, the step S105 may further include:

In step S1051, the velocity of the distal end of the operation portion is acquired, and the damping force actually applied to the distal end of the operation portion is determined based on the velocity.

The speed is a generalized speed and may include at least one of a linear speed and an angular speed. The damping force is a generalized force and may include at least one of a force and a moment.

Illustratively, this step S1051 includes acquiring at least one of a linear velocity and an angular velocity of a tip of the operation section; acquiring a damping force model; and determining the damping force by combining the damping force model and at least one of the linear velocity and the angular velocity. Wherein, when the movement of the tip of the operation portion includes a position change, the acquired speed includes a linear speed; when the movement of the tip of the operation portion includes a posture change, the acquired speed includes an angular speed. In one embodiment, the damping force model may be expressed as follows:

(9)

in the formula (9) of the present invention,the tip damping force of the operation unit; />An angular velocity of the tip of the operation unit;a linear velocity indicating the end of the operation section; />Represents an angular velocity damping coefficient; />Representing the linear velocity; />Representing a transpose of a kinematic Jacobian matrix of the operating section, wherein the kinematic Jacobian matrix is +.>The joint variable of the first joint component based on the operation part is determined in real time.

Step S1052, determining the joint target driving force to be outputted by the joint assembly of the operation section based on the second resistance and the damping force.

In the case where the joint assembly in the operation portion is controlled to output the joint target driving force of the associated damping force in step S106, it is possible to prevent rapid rebound or oscillation back and forth, which may occur when the operation portion is separated from the operator' S manipulation, which is advantageous in ensuring safety in the operation implementation, because such rapid rebound or oscillation back and forth may cause undesired movement of the medical instrument in the master-slave following control.

In some embodiments, the desired superimposed force may further include a joint compensation driving force desired to be output by the joint assembly in the operation portion, the joint compensation driving force being used to balance the force generated by the internal load in the operation portion. Referring to fig. 10, the step S105 may include:

step S1054 acquires the joint compensation driving force output by the joint assembly in the desired operation section.

Step S1055, determining a joint target driving force to be outputted by the joint assembly in the operation section based on the second resistance and the joint compensation driving force.

Wherein the joint compensation driving force may be obtained by solving an inverse solution of statics to obtain the acting force due to the internal load acting on the tip of the operation portion, and then obtaining the joint target driving force by using a statics equation with the second resistance and the acting force. The second resistance may be used to obtain the first joint target driving force by using a statics equation, and the acting force may be used to obtain the second joint target driving force by using a statics equation, and then the first joint target driving force and the second joint target driving force may be superimposed to obtain the actually desired joint target driving force. Of course, the aforementioned step S1052 may also be processed in the same manner to obtain the desired joint target driving force thereof.

In some embodiments, the joint compensation driving force may include at least one of a gravity compensation force and a friction compensation force. For example, both may be included, and the joint assembly of the operation unit is controlled to output the joint target driving force in association with the gravity and the friction, so that the operator can operate the operation unit more easily and flexibly.

In some embodiments, the operating portion further includes a handle coupled to the proximal-most joint assembly of the first joint assembly and a spring force compensation mechanism for providing a spring force to gravity compensate the operating portion so that an operator can overcome the effects of gravity-induced gravitational moment with no or less force when manipulating the operating portion. However, since the end position of the operation portion is changed in real time, the gravitational moment caused by gravity is changed in real time, and the elastic force fixedly output by the elastic force compensation mechanism is generally insufficient to compensate the gravitational moment in real time. To ensure a sense of force of an operator manipulating the operation portion, an elastic force compensation force can be outputted through the joint assembly in the operation portion to offset the influence of the change in the gravitational moment. Accordingly, the joint compensation driving force may include an elastic compensation force.

In some embodiments, the joint compensation driving force includes a gravity compensation force, a friction compensation force, and a spring compensation force. Referring to fig. 11, the step S1054 may include:

In step S1057, the position and speed of each joint component in the operation section are acquired.

Step S1058, determining a gravity compensation force and an elastic compensation force of each joint component according to the position of each joint component in the operation part, and determining a friction compensation force of each joint component according to the speed of each joint component in the operation part.

In step S1059, the joint compensation driving force to be outputted by each joint component in the operation section is determined based on the gravity compensation force, the elastic force compensation force, and the friction force compensation force of each joint component in the operation section.

By way of example, the gravity compensation force, the elastic force compensation force and the friction force compensation force of each joint component in the operation part are respectively overlapped to obtain the joint compensation driving force of the corresponding joint component.

In some embodiments, each joint component in the operation part has a corresponding compensation model, and the compensation models include a gravity compensation model, an elastic compensation model and a friction compensation model, and the compensation models of different joint components are independent.

In some embodiments, determining the gravity compensation force of each joint assembly based on the position of each joint assembly in the operating portion includes:

acquiring gravity compensation parameters of a gravity compensation model corresponding to each joint component in the operation part;

And determining the gravity compensation force of each joint assembly by taking the position of each joint assembly and the gravity compensation parameter in the operation part as the input of the gravity compensation model corresponding to each joint assembly.

In some embodiments, determining the spring force compensation force of each joint component based on the position of each joint component in the operating portion includes:

acquiring elasticity compensation parameters of an elasticity compensation model corresponding to each joint component in the operation part;

and determining the elastic force compensation force of each joint component by taking the position of each joint component and the elastic force compensation parameter in the operation part as the input of an elastic force compensation model corresponding to each joint component.

In some embodiments, determining the friction force compensation force for each joint assembly based on the velocity of each joint assembly in the operating portion includes:

determining the linear velocity and/or angular velocity of the end of the operation part according to the velocity of each joint assembly in the operation part;

the friction force compensation force of each joint assembly is determined based on the speed of each joint assembly and the linear and/or angular speed of the distal end of the operating section.

In one embodiment, determining the linear velocity and/or angular velocity of the distal end of the operating portion based on the velocity of each joint assembly in the operating portion includes:

the speed of each joint component in the operation part is filtered. Illustratively, the filtering process for the velocity of each joint component in the operation part includes:

Acquiring absolute values of speeds of all joint assemblies in the operation part at the current moment;

when the absolute value of the speed of the joint assembly is larger than or equal to a preset threshold value, the sign of the speed of the joint assembly is consistent with the sign of the speed at the current moment; when the absolute value of the speed of the joint assembly is smaller than a preset threshold value, adjusting the sign of the speed of the joint assembly to be consistent with the sign of the speed at the last moment;

and determining the speed of each joint component after the filtering processing according to the sign of the speed of the joint component and the absolute value of the speed.

determining a Jacobian matrix of the gesture of the operation part at the current moment according to the position of each joint component in the operation part;

the linear velocity and/or angular velocity of the distal end of the operation unit is determined based on the jacobian matrix and the velocity of each joint component.

In one embodiment, determining the friction force compensation force of each joint assembly according to the speed of each joint in the operation part and the linear speed and/or the angular speed of the tail end of the operation part comprises:

determining a friction target compensation force according to the speed of the joint assembly;

Determining a first adjustment coefficient of each joint component according to the linear speed and/or the angular speed of the tail end of the operation part;

and determining a friction force compensation force according to the first adjustment coefficient and the friction force target compensation force.

In one embodiment, the first adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity module length of the end of the operation portion, or the first adjustment coefficient is in a linear relationship or a nonlinear relationship with the linear velocity and the angular velocity module length of the end of the operation portion.

In one embodiment, the joint assembly in the operation portion includes a plurality of position joint assemblies for adjusting the tip position of the operation portion and a plurality of posture joint assemblies for adjusting the tip posture of the operation portion, a first adjustment coefficient of the plurality of position joint assemblies is associated with a linear velocity of the tip of the operation portion, and a first adjustment coefficient of the plurality of posture joint assemblies is associated with an angular velocity of the tip of the operation portion.

In one embodiment, the first adjustment coefficient is a first fixed value when the linear velocity of the tip of the operation portion is less than the first threshold value, the first adjustment coefficient increases as the linear velocity of the tip of the operation portion increases when the linear velocity of the tip of the operation portion is greater than the first threshold value and less than the second threshold value, and the first adjustment coefficient is a second fixed value when the linear velocity of the tip of the operation portion is greater than the second threshold value.

In one embodiment, determining a friction target compensation force for each joint assembly includes:

acquiring friction force compensation parameters of a friction force compensation model corresponding to each joint assembly;

and determining the friction target compensation force of each joint component according to the speed of each joint component and the friction compensation parameter.

In some embodiments, the step S105 may further include:

acquiring a master-slave mapping control relation between an operation part and a medical instrument;

the joint target driving force output by the joint assembly in the desired operation portion is determined based on the master-slave map control relationship and the second resistance.

The master-slave mapping relationship comprises at least one of a position-to-position mapping relationship, a position-to-gesture mapping relationship, a gesture-to-gesture mapping relationship and a gesture-to-position mapping relationship. Examples of the case of gesture out-of-limit are:

when the master-slave mapping relationship is a posture-to-posture mapping relationship, the force actually applied between the distal ends of the operation unit is also a moment in the generalized force, assuming that the force applied to the distal ends of the medical instrument is a moment in the generalized force.

When the master-slave mapping relationship is a posture-to-position mapping relationship, the force actually applied between the distal ends of the operation unit is also the force in the generalized force, assuming that the force applied to the distal ends of the medical instrument is the moment in the generalized force.

By determining the joint target driving force based on the master-slave mapping relationship, accurate conversion of the generalized force between the medical instrument and the operation portion can be ensured, and further good experience when an operator manipulates the operation portion is ensured.

In some embodiments, in master slave following mode, the present disclosure also provides another control method that is equally applicable to single port laparoscopic surgical robots and multi-port laparoscopic surgical robots.

In some embodiments, referring to fig. 12, the control method of the present disclosure includes:

step S201, a first target pose of an end effector of a medical instrument is acquired.

The attitude control also generally belongs to the incremental control, and thus the first target attitude is determined based on the acquired second target attitude reached by the tip of the moving operation section.

The medical instrument comprises a connecting rod, a wrist joint component and an end effector which are sequentially connected, wherein the end effector is the tail end of the medical instrument.

The rotation of the links may generally provide rotational degrees of freedom for the end effector, whether in a single port laparoscopic surgical robot or a multi-port laparoscopic surgical robot; the wrist assembly may provide a plurality of degrees of freedom for the end effector, which may include at least a pose degree of freedom including at least one of yaw and pitch degrees of freedom, including for example two. It is understood that the degrees of freedom of the pose of the end effector may be provided by the linkage and wrist assembly together, alone with respect to the medical instrument. In either the single port laparoscopic surgical robot or the multi-port laparoscopic surgical robot, if the movement of the manipulator affects the pose of the end effector, the pose degree of freedom of the end effector may be provided by the manipulator and the medical instrument together, whereas if the movement of the manipulator does not affect the pose of the end effector, the pose degree of freedom of the end effector may be provided by the medical instrument only. For example, in a single port laparoscopic robot as shown in fig. 1, the degrees of freedom in the pose of the end effector are provided solely by the linkage and wrist assemblies in the medical instrument; also for example, in a multi-hole laparoscopic robot as shown in fig. 3, since the manipulator can perform pitch and yaw motions about the remote center of motion, the degrees of freedom of the pose of the end effector can be provided jointly by the manipulator, the links in the medical instrument, and the wrist assembly.

Step S202, determining the target direction of the end effector and the target rotation angle of the connecting rod based on the first target gesture.

The end effector has a pointing direction that is associated with a coordinate axis, i.e., an axis of rotation, of the end effector's rotational degrees of freedom. For example, assuming that the end effector includes three degrees of freedom, yaw, pitch, and spin, a Cartesian coordinate system may be constructed on the end effector with an X-coordinate axis being the rotational axis of the yaw degree of freedom of the end effector, a Y-coordinate axis being the rotational axis of the pitch degree of freedom of the end effector, and a Z-coordinate axis being the rotational axis of the spin degree of freedom of the end effector pointing in a direction defined as the Z-coordinate axis. Of course, the end effector includes one of yaw and pitch degrees of freedom, and also includes a rotational degree of freedom, and the pointing direction may be defined as the direction of the Z coordinate axis.

Pointing may generally be determined based on the degrees of freedom of the pose of the wrist assembly in the medical device. Pointing includes initial pointing and target pointing. The initial orientation refers to the orientation of the end effector in an initial state, and may refer to the orientation of the linkage, wrist assembly, and end effector in a straight line state in the medical instrument. The target pointing direction refers to the direction of the end effector in the first target gesture, and the target pointing direction determining method comprises the following steps:

Determining a target joint variable for a joint assembly in the manipulator and the medical instrument based on the first target pose; the target pointing direction of the end effector is then determined based on the target joint variables of the joint assemblies of the wrist assembly that are related to yaw and pitch degrees of freedom. For example, when the wrist assembly has only yaw or pitch degrees of freedom, the target pointing direction of the end effector is determined based on the target joint variables associated with the yaw or pitch degrees of freedom. For another example, when the wrist assembly has yaw and pitch degrees of freedom, a target pointing direction of the end effector is determined based on target joint variables associated with the yaw and pitch degrees of freedom.

In step S203, it is detected whether the deviation angle between the target pointing direction and the initial pointing direction exceeds the pointing movement boundary of the end effector.

Pointing motion boundaries may refer to the maximum deviation angle between the current pointing direction and the initial pointing direction. The current pointing direction may generally refer to an actual pointing direction of the end effector, and a deviation angle between a maximum current pointing direction and an initial pointing direction is a maximum deviation angle, where the maximum current pointing direction refers to a current pointing direction determined by the end effector based on a maximum movement range that can be achieved by the pose degree of freedom of the wrist joint assembly.

Since the initial heading is known, when the wrist assembly includes only yaw or pitch degrees of freedom, the maximum deviation angle is only related to the maximum current heading determined by the yaw or pitch degrees of freedom.

Also, since the initial heading is known, where the wrist assembly includes both yaw and pitch degrees of freedom, the maximum angle of deviation may be determined jointly based on a first maximum angle of deviation between the yaw and initial heading, and based on a second maximum angle of deviation between the pitch and initial heading. The first maximum deviation angle is associated with a maximum current heading determined solely by the yaw degree of freedom and the second maximum deviation angle is associated with a maximum current heading determined solely by the yaw degree of freedom. The first maximum deviation angle may be the same or different from the second deviation angle, depending primarily on the structural design of the wrist assembly. For example, when the first maximum deviation angle is the same as the second maximum deviation angle, either one of the first maximum deviation angle and the second maximum deviation angle may be configured as the maximum deviation angle. For example, when the first maximum deviation angle is different from the second maximum deviation angle, a relatively smaller one of the first maximum deviation angle and the second deviation angle may be configured as the maximum deviation angle, for example, the first maximum deviation angle is 80 °, the second maximum deviation angle is 90 °, and the first maximum deviation angle, for example, 80 ° at this time, is configured as the maximum deviation angle as the pointing motion boundary, so that the pointing motion boundary corresponding to the degrees of freedom of different postures may have the homogeneity, so that the impedance boundary model has the advantage of regularity, and the calculation can be simplified when the first resistance moment is determined based on the step S204.

Step S204, determining a direction of a first resistance supposed to act on the end effector when a deviation angle between the target pointing direction and the initial pointing direction exceeds a pointing movement boundary of the end effector.

The first resistance is for imaginary resistance to pitch and/or yaw degrees of freedom movement of the end effector into the first target pose.

Of course, when the angle of deviation between the target pointing direction and the initial pointing direction exceeds the pointing motion boundary of the tip of the medical instrument, the end effector can be turned toward the target pointing direction without having to be resisted by the phantom acting on the end effector in the pitch and/or yaw degrees of freedom.

In this step S204, controlling the movement of the joint assembly in the manipulator and the medical instrument to bring the angle of deviation between the pointing direction of the end effector and the initial pointing direction to the pointing movement boundary and to maintain the pointing direction at that time may also be included.

Step S205, determining the first resistance based on the direction, deviation angle and pointing movement boundary of the first resistance.

Step S206, determining a first target resistance actually acting on the tip of the operation portion based on the first resistance.

The first target resistance is for actually resisting the pitch and/or yaw degrees of freedom movement of the tip of the operating portion into the second target attitude.

Step S207 determines a first joint target drive torque to be output by the joint assembly in the operation section based on the first target resistance.

In step S208, the joint assembly in the control operation portion outputs the first joint target driving torque.

By this step S208, force feedback can be achieved at the operating portion, thereby prompting the operator not to move the operating portion any more towards the second target attitude, to actually counteract the movement of the tip of the operating portion, for example, towards the pitch and/or yaw degrees of freedom in the second target attitude.

Step S209, detecting whether the target rotation angle exceeds the motion boundary of the rotation degree of freedom.

The motion boundary of the rotation degree of freedom refers to the motion (rotation) range of the rotation degree of freedom.

Step S210, when the target rotation angle exceeds the movement boundary of the rotation freedom degree, determining the direction of the second resistance supposed to act on the end effector.

The second resistance is configured to virtually resist rotational degrees of freedom movement of the end effector into the first target pose.

Of course, when the target rotation angle does not exceed the movement boundary of the rotation degree of freedom, the link can be controlled to rotate the target rotation angle without being subjected to resistance in the rotation degree of freedom that is supposed to act on the end effector.

In this step S210, the movement of the link in the medical device may also be controlled so that the rotation angle of the link reaches the movement boundary of the rotation degree of freedom and the rotation angle at that time is maintained.

Step S211, determining the second resistance based on the direction of the second resistance, the target rotation angle, and the movement boundary.

Step S212 of determining a second target resistance actually acting on the tip of the operation portion based on the second resistance.

The second target resistance is for actually resisting the rotational degree of freedom movement of the tip of the operating portion into the second target posture.

Step S206, step S212 may include a conversion process for converting the corresponding moment from a first coordinate system of the distal end of the medical instrument to a second coordinate system of the distal end of the operation portion. For this conversion process, reference may be made to the conversion of the first resistance described above, and no further description is given here.

Step S213, determining a second joint target driving torque to be output by the joint assembly in the operation section based on the second target resistance.

Step S207, step S213, the corresponding joint target driving force may be determined by means of a statics equation.

In step S214, the joint assembly in the control operation portion outputs the second joint target driving torque.

By this step S214, force feedback can be achieved at the operation portion, thereby prompting the operator not to move the operation portion any more to the second target posture to actually resist the movement of the distal end of the operation portion to, for example, the rotational degree of freedom in the second posture.

In the above embodiment, in the above step S203, if it is detected that the deviation angle between the target pointing direction and the initial pointing direction does not exceed the pointing movement boundary of the end effector, step S215 is performed.

In step S215, the end effector motion is controlled to reach the target orientation.

In the above embodiment, in the above step S209, if it is detected that the target rotation angle does not exceed the movement boundary of the rotation degree of freedom, step S216 is performed.

Step S216, controlling the movement of the connecting rod to reach the target rotation angle.

The steps S203 to S208 and the steps S209 to S214 may be sequentially performed or may be performed in parallel. For example, the two steps are performed in parallel.

In other embodiments, the first target resistance and the second target resistance may be superimposed, and the final joint target driving force output by the joint assembly in the desired operation portion may be determined based on the superimposed two target resistances, or alternatively, the first joint target driving force and the second joint target driving force may be superimposed as the final joint target driving force output by the joint assembly in the desired operation portion; then, the same effect can be achieved by controlling the joint unit in the operation section to output the final joint target driving force.

The various resistances and driving forces may be generalized forces, and in general, the various resistances and driving forces are moments for the posture.

In some embodiments, the tip of the medical instrument includes a positional movement boundary in the operating space. Referring to fig. 13, the control method of the present disclosure may further include:

step S220, acquiring a first target position of an end effector of the medical instrument and acquiring a current position of the end effector of the medical instrument.

The position control generally belongs to the incremental control, and thus the first target position may be determined based on the acquired second target position reached by the end of the moving operation portion.

In step S221, it is detected whether the current position reaches the position movement boundary, and it is detected whether the first target position exceeds the position movement boundary.

The end effector includes a positional movement boundary in the operating space.

When the current position reaches the motion boundary and the first target position exceeds the position motion boundary, executing step S222; otherwise, step S226 is performed.

Step S222, determining a first resistance supposed to act on the tip of the medical instrument based on the first target position and the current position.

Step S223 of determining a second resistance actually acting on the tip of the operation portion based on the first resistance.

The first resistance and the second resistance are forces in the broad sense of force. The first resistance is for virtually resisting movement of the distal end of the medical instrument toward the first target position, and the second resistance is for virtually resisting movement of the distal end of the operating portion toward the second target position.

Also, this step S223 may at least include the foregoing conversion process for converting the coordinate system of the force, which is not described herein.

Step S224, determining a joint target driving force to be output by the joint assembly in the operation section based on the second resistance.

In step S225, the joint assembly in the operation section is controlled to output the joint target driving force.

In step S225, the torque mode is used to control the joint assembly to output the joint target driving force to achieve force feedback at the operation portion, thereby prompting the operator not to move the operation portion any more to the position corresponding to the position command.

Step S226, determining a target joint variable for the joint assembly in the manipulator and the medical instrument based on the first target position.

Step S227, the control manipulator and the joint assembly in the medical instrument output the target joint variable.

In step S227, the position mode control joint assembly is used to output a target joint variable to not limit movement of the distal end of the medical instrument in the positional degrees of freedom when the current position of the distal end of the medical instrument does not reach the positional movement boundary and/or the first target position does not exceed the positional movement boundary.

In some embodiments, step S222 may further include controlling the distal end of the medical instrument to maintain the current position.

In some embodiments, step S222 described above, i.e., determining the first resistance of the tip of the medical instrument based on the first target position and the current position, may be obtained with reference to the foregoing, and may be obtained with reference to the foregoing equation (1), for example. In some embodiments, the step S224 described above, that is, the determination of the second resistance actually acting on the tip of the operation portion based on the first resistance, may also be obtained with reference to the foregoing, for example, the step may also include a resistance magnitude conversion process, which may be obtained with reference to the foregoing formula (2), as an example.

In the step S204, the direction of the first resistance may be determined based on, for example, one of the target pointing direction and the current pointing direction of the end effector, and the initial pointing direction, where the current pointing direction refers to the pointing direction of the end effector in the current posture. For example, the direction of the first resistance may be determined based on the target direction and the initial direction, and illustratively, the first vector obtained by the target direction and the initial direction may be multiplied, the modulo length of the first vector may be obtained, and the direction of the first resistance may be determined based on the first vector and the modulo length of the first vector. Illustratively, the expression of the first vector may be as follows:

（10）

In the formula (10) of the present invention,representing the first vector; />Representing the target pointing direction; />Representing the initial pointing direction. />I.e. the direction of the first resistance. In the step S205, a first directional motion boundary impedance model associated with the direction of the first resistance may be obtained, and the first resistance may be determined based on the deviation angle, the directional motion boundary, and the first directional motion boundary impedance model. The first directional motion boundary impedance model may be expressed, for example, as:

（11）

equation (11),represents a first resistance; />Representing the spring rate; />Representing the deviation angle; />Representing pointing motion boundaries; />A maximum moment of resistance threshold value representing the first resistance; />Indicating the direction of the first resistance.

In the step S210, for example, a second vector may be obtained based on a sign function related to the rotation angle of the target and the target direction, a modulo length of the second vector may be obtained, and a direction of the second resistance may be determined based on the second vector and the modulo length of the second vector. Illustratively, the expression of the second vector may be as follows:

（12）

in the formula (12) of the present invention,representing a second vector; />Representing a sign function; />Representing the target rotation angle; />Indicating the target pointing direction. />I.e. the direction of the second resistance.

In the step S211, a second directional movement boundary impedance model associated with the direction of the second resistance may be obtained, and the second resistance may be determined based on the target rotation angle, the movement boundary, and the second directional movement boundary impedance model. The second directional motion boundary impedance model may be expressed, for example, as:

（13）

In the formula (13) of the present invention,representing a second resistance; />Representing the absolute value of the target rotation angle; />A motion boundary representing a degree of freedom of rotation; />Representing the spring rate; />A maximum moment of resistance threshold value representing the second resistance; />Indicating the direction of the second resistance.

In some embodiments, in the step S207, the step S213, or the step S224, other forces that are expected to actually act on the operation portion may be superimposed, where the forces may include one or more desired effects, and the forces are also generalized forces. Illustratively, the desired superimposed forces include, but are not limited to, damping forces, and/or joint compensating driving forces for balancing forces generated by internal loads in the operating portion. For example, the joint compensation driving force may include at least one of a gravity compensation force, a friction compensation force, and an elastic compensation force. For these forces that may be superimposed, reference is made to the foregoing and no further description is repeated here. The force actually applied to the operation part can be analyzed into joint driving force output by the joint assembly of the expected operation part after superposition, and the joint driving force is output; of course, the forces actually applied to the operation unit may be analyzed into the joint driving forces outputted from the joint assembly of the desired operation unit, and the joint driving forces may be superimposed and outputted together.

In some embodiments, the control method of the present disclosure is particularly suitable for use scenarios in which the rotation range of the rotation degree of freedom is greater than or equal to 360 °, and the rotation range of the pitch degree of freedom and/or the yaw degree of freedom is less than 360 °.

In some embodiments, with continued reference to fig. 1, in a single port laparoscopic surgical robot, a penetrator 400 is provided at the end of a housing 130 housing a plurality of manipulators 140, and a plurality of medical instruments 150 are inserted into a patient through a plurality of airtight passages provided by the same penetrator 400 to perform a procedure. Because of the relatively sufficient degrees of freedom provided by manipulator 140 and medical instrument 150, "relatively sufficient" includes implementations that may satisfy the corresponding surgical style. Therefore, during preoperative positioning, the pose of the puncture outfit 400 can be generally determined according to the target surgery to be performed, and the puncture outfit 400 is locked in the pose by a software control method, so that the position and the pose of the puncture outfit 400 cannot be changed in the locked state, and the damage to a patient caused by stress possibly generated by the movement of the puncture outfit 400 is reduced.

For example, surgical formulas are classified into a large category including otorhinolaryngological surgical formulas, prostatism surgical formulas, nephrology surgical formulas, gastrointestinal surgical formulas, hepatobiliary surgical formulas, thoracic surgical formulas, gynecological surgical formulas, and cardiac surgical formulas. Further, the exemplary surgical formulas are classified into minor categories, and examples of the hepatobiliary surgical formulas include, for example, liver transplantation surgical formulas, liver lobe resection surgical formulas, cholecystectomy surgical formulas, pancreas-duodenum resection surgical formulas, spleen resection surgical formulas, and the like. An example of a target surgical formula may be determined from the above surgical formulas.

For the different surgical formulas illustrated in the foregoing, it is possible to allow a plurality of different large types of surgical formulas to be performed through the same incision or natural orifice of the living being, for example, it is possible to allow nephrology surgical formulas, gastrointestinal surgical formulas, hepatobiliary surgical formulas to be performed through the same incision or natural orifice; it is also possible to allow a plurality of different small types of surgical formulas among the same large type of surgical formulas to be performed through the same incision or natural orifice of a living body, for example, it is possible to allow a liver graft surgical formula among hepatobiliary surgical formulas, hepatolobectomy surgical formulas, cholecystectomy surgical formulas, pancreatectomy surgical formulas, splenectomy surgical formulas to be performed through the same incision or natural orifice of a living body.

Since the puncture instrument 400 is connected to the patient, it is not generally permissible for the puncture instrument 400 to change its position, and if necessary, only the puncture instrument 400 may be permitted to move about the remote center of movement, i.e., movement to maintain the position of the puncture instrument 400 and change the orientation of the puncture instrument 400. Wherein the remote center of motion may be generally configured on the penetrator 400, for example, as shown in fig. 14, the remote center of motion (i.e., RC) is configured to not damage the incision or natural orifice when the penetrator 400 is coupled to the incision or natural orifice at a location such that the penetrator 400 moves about the remote center of motion.

The movement boundary of the end effector is not adjustable in the operating space in the sense that it is associated with the range of articulation of the joint assemblies in manipulator 140 and medical instrument 150. The movement boundary of the end effector is also associated with the orientation (i.e., pose) of the penetrator 400 in the sense that the movement boundary is adjustable in the operating space.

For the sake of brevity, fig. 15 purposely omits manipulator 140 and medical instrument 150 while leaving only piercer 400 in place for illustration, and different surgical formulas are often associated with different orientations of piercer 400, and orientation adjustment may generally be accomplished by controlling the movement of piercer 400 about a remote center of motion to meet the need for switching between different surgical formulas associated with the same incision or the same natural orifice, the primary purpose of switching surgical formulas or adjusting the orientation of piercer 400 being to enable the boundary of motion of the end effector to meet the intended surgical formula of the surgical operation, rather than to unduly impede the surgical operation. It can be seen that there is generally a correlation between the orientation of the penetrator 400 and the surgical style, and that a change in the orientation of the penetrator 400 may cause a change in the surgical style, or that a change in the surgical style may cause a change in the orientation of the penetrator 400, which may affect each other.

For example, with continued reference to fig. 15, the motion boundaries of a plurality of different end effectors disposed through the same penetrator 400 may be configured to have the same motion boundary. The same motion boundary may, for example, take the area of intersection of motion boundaries of a plurality of different end effectors, e.g., the same motion boundary may be constrained to a cylindrical volume, e.g., as shown in the dashed closed figure of fig. 15. This same motion boundary is illustratively associated with an orientation axis of the penetrator 400, e.g., the central axis of the cylindrical space, which is sometimes referred to as the RC axis, central axis.

In some embodiments, the controller may also predict the orientation of the penetrator 400 (equivalent to predicting the surgical style) based on manipulation of the manipulator assembly 120 by the physician via the manipulator 310. Thus, as shown in fig. 16, the controller may be further configured to perform:

step S21, acquiring first information that the end effector exceeds the movement boundary of the end effector in the operation process of the doctor under the current orientation of the puncture outfit.

The motion boundary herein mainly refers to a position motion boundary in an operation space, and whether the target surgical mode can be successfully implemented is mainly related to the position motion boundary of the end effector, that is, whether the end effector cannot reach a necessary region in position is a key point of smoothly implementing the operation.

The first information includes one or more of an out-of-limit position, an out-of-limit number, and an out-of-limit time. The number of overruns includes a number of overruns associated with an overrun location and/or a total number of overruns. The total out-of-limit times can be directly obtained in a counting mode of accumulating out-of-limit once every time, and can also be obtained by calculating the sum of the out-of-limit times of all out-of-limit positions. The out-of-limit time includes a dwell time of the end effector associated with the out-of-limit position, including a single out-of-limit time at the out-of-limit position and/or a total out-of-limit time, wherein the total out-of-limit time includes a total out-of-limit time at one out-of-limit position and/or a total out-of-limit time at all out-of-limit positions.

And step S22, predicting the target orientation of the puncture outfit based on the acquired first information.

Different orientations of penetrator 400 may generally be associated with different surgical styles and the target orientation may generally be different than the current orientation.

In some embodiments, predicting the target orientation of the puncture instrument based on the acquired first information comprises: in response to acquiring the first instruction, a target orientation of the puncture outfit is predicted based on the acquired first information.

In some embodiments, the first instructions may include first instructions processed and obtained by the controller, i.e., the prediction of the orientation of the penetrator 400 is automatically triggered. For example, during a procedure in which the procedure is performed with the current orientation of the penetrator 400, the controller may determine a first section of the end effector that is frequently out of range on its motion boundary based on the first information, and when the first section can be determined, the controller may obtain the first instruction. The first section comprises an area formed by more than one point on the boundary, and the positions of all points covered by the first section serving as a point set can be determined as the positions of the points can be determined according to kinematics.

For example, the boundary may be divided into a plurality of sections in advance, and the determination of the first section may include determining whether the number of times of overrun in the statistically divided plurality of sections reaches a threshold value, and if the threshold value is reached, determining the corresponding one of the sections as the first section, wherein the first section may include 1 or more, such as 1, 2 or more, since the number of times of overrun in the plurality of sections reaches the threshold value may include 1 or more during the operation. For example, assuming that the motion boundary (e.g., the boundary associated with the xy plane) is circular, the boundary may be divided into more than 2 segments, such as 2, 3, 4, 5, 6, … … segments, although more segments may be included. The sections may be configured as equal, or partially equal, or unequal, e.g., the sections may be configured as equal sections. In general, the more segments that are divided, the more beneficial it is generally for accurately predicting the target orientation of the penetrator 400. As shown in fig. 17, for example, the boundary may be divided into sections 1 to 8 in advance, and the end effector may have out-of-limit in each of sections 1 to 8, and the number of out-of-limit times of section 1 may occur a maximum number of times according to statistics, so that section 1 shown in fig. 18 may be determined as the first section.

The determining of the first section may also include determining whether an out-of-limit time in the statistically divided sections reaches a threshold, and if so, determining that the corresponding one of the sections is the first section.

For example, the boundary may not be divided into a plurality of sections in advance, the determining of the first section may include generating a normal distribution curve on the motion boundary, which is associated with the out-of-limit position and the out-of-limit number when the total out-of-limit number reaches the first threshold value in a certain period, determining a target section with the out-of-limit probability reaching the second threshold value based on the normal distribution curve, and determining the first section by using the position on the motion boundary associated with the end point of the target section. In addition, after the target interval is determined, statistics can be carried out on the out-of-limit times in the target interval, and when the out-of-limit times reach a third threshold value, the first section is determined by utilizing the position on the motion boundary associated with the end point of the target interval. As shown in fig. 19, it is not necessary to divide the segments for the boundary in advance, and the out-of-limit most dense segment is determined as the target segment, and then the first segment on the boundary as shown in fig. 20 is determined by using the end point of the target segment.

The determining of the first section may include generating a normal distribution curve on the motion boundary, which is associated with the out-of-limit position and the out-of-limit time, when the total out-of-limit time reaches the first threshold value in a certain period, and determining a target section of which the out-of-limit probability reaches the second threshold value based on the normal distribution curve, wherein the first section may be determined by using the position on the motion boundary associated with the end point of the target section.

In addition, after the target interval is determined, statistics can be carried out on the out-of-limit times or out-of-limit time in the target interval, and when the out-of-limit times or the out-of-limit time reaches a third threshold value, the first section is determined by utilizing the position on the motion boundary associated with the end point of the target interval.

In some embodiments, the first instruction may comprise a first instruction entered by the physician to the controller via the input device, i.e. the prediction of the orientation of the penetrator 400 may be manually triggered. The physician may actively input the first instruction in any way. The input device for inputting the first instruction includes at least one of, for example, a touch screen coupled to the controller, for example, a voice recognition device coupled to the controller, for example, an operation portion 310 coupled to the controller, for example, a foot pedal coupled to the controller, for example, a motion recognition device (such as a gesture recognition device) coupled to the controller, for example, an electroencephalogram recognition device coupled to the controller, and other input-enabled devices.

In some embodiments, predicting the target orientation of the puncture instrument based on the acquired first information comprises: a first section is determined based on the first information, and a target orientation of the penetrator is predicted based on the first section.

The determining manner of the first section includes the foregoing manner, and is not described herein in detail.

Illustratively, predicting a target orientation of the penetrator based on the first segment includes: the operation mode, of which the motion boundary of the associated end effector is located on the first section side in the out-of-limit direction, is matched from the plurality of operation modes to serve as a target operation mode, and then the target orientation of the puncture outfit is determined according to the target operation mode. For example, as shown in fig. 21, assuming that the motion boundaries of the plurality of surgically-associated end effectors include motion boundaries a-E of the end effectors, if the motion boundary A, B, C of the end effector is located on the first zone side in the out-of-range direction and the motion boundary D, E of the end effector is not located on the first zone side in the out-of-range direction, the orientation of the penetrator associated with the motion boundary A, B, C of the end effector may be matched as the target orientation.

Any two are interrelated due to the orientation of the penetrator, the surgical approach, and the boundary of motion of the end effector. Based on the association, the surgical formula associated with the motion boundary A, B, C of the end effector may be matched to the target surgical formula, and/or the motion boundary A, B, C of the end effector may be matched to the target motion boundary.

Illustratively, predicting a target orientation of the penetrator based on the first segment includes: the motion boundary of the associated end effector is matched from the plurality of surgical formulas, and the surgical formulas of the first section can be at least partially covered as target surgical formulas, so that the target orientation of the puncture outfit is determined according to the target surgical formulas. For example, a surgical formula that only needs to cover a part of the points of the first section may be used as the target surgical formula. For another example, a surgical formula in which the proportion of points covering the first section reaches the first threshold may be regarded as the target surgical formula. The predicted target surgical style may include more than one surgical style. For example, as shown in fig. 22, assuming that the plurality of surgical formulas includes the motion boundaries a ' to D ' of the end effector associated with the surgical formulas, if the ratio of the motion boundary a ' to the first section reaches 100%, the ratio of the motion boundary B ' to the first section reaches 80%, the ratio of the motion boundary C ' to the first section reaches 40%, and the ratio of the motion boundary D ' to the first section is 0, for example, the surgical formulas associated with the motion boundaries a ', B ', C ' may be all the target surgical formulas, and for example, the surgical formulas having the coverage ratio of more than 50% may be the target surgical formulas, in which case only the surgical formulas associated with the motion boundaries a ', B ' among the surgical formulas associated with the motion boundaries a ' to C ' may be regarded as the target surgical formulas.

For example, to be able to more accurately predict the target orientation of the penetrator 400, predicting the target orientation of the penetrator based on the first segment may include: acquiring a first section; acquiring an operation image acquired by an image instrument; identifying an organ in the operation image; the target orientation of the penetrator is predicted in combination with the first segment and the identified organ. Exemplary organs include heart, liver, spleen, lung, stomach, gall bladder, pancreas, kidney, bladder, large intestine, duodenum, and the like. Organs also include finer features such as lobes in the liver, etc. As shown in fig. 23, when, for example, the liver lobe, the kidney, and the duodenum are identified from the operation image, for example, the orientation of the puncture instrument corresponding to the liver lobe, the kidney can be predicted as the target orientation in combination with the first segment.

In some embodiments, predicting a target orientation of the penetrator in combination with the first segment and the identified organ comprises:

matching a first surgical formula associated with the first segment from the plurality of surgical formulas; the second surgical formula, whose associated end effector movement boundary is associated with the identified organ, is matched from the first surgical formula as the target surgical formula.

Illustratively, matching a first surgical formula associated with the first segment from a plurality of surgical formulas includes: the surgical formula of which the movement boundary of the associated end effector is located on the first section side in the out-of-limit direction is matched from the plurality of surgical formulas as a first surgical formula.

Illustratively, matching a first surgical formula associated with the first segment from a plurality of surgical formulas includes: the motion boundaries of their respective end effectors may be matched from a plurality of surgical formulas to at least partially cover the surgical formulas of the first section as the first surgical formulas.

The second surgical formula, whose associated end effector movement boundary is associated with the identified organ, is matched from the first surgical formula as the target surgical formula, in other words, the surgical formulas associated with the unrecognized organ are excluded, i.e., the remaining surgical formulas are taken as the second surgical formulas. Wherein the organ is not identified includes the organ not being within the operative image (i.e., not within the field of view of the image instrument) and/or the organ is within the operative image but not identified due to insufficient features, etc. Further, by screening the first surgical formula by combining the image recognition, the prediction accuracy of the second surgical formula can be improved, and the operation intention of the doctor can be reflected.

In some embodiments, after predicting the target orientation of the target surgical and/or penetrator, the controller may be configured to recommend the target orientation of the target surgical and/or penetrator to the physician. For example, a user interface as shown in FIG. 24 may be generated to present corresponding recommendation information to a physician, in the interface shown in FIG. 24, recommending to the physician a target surgical style and/or target orientation of the penetrator in relation to the lobe of the liver. Furthermore, the physician may manually adjust the orientation of the penetrator based on the recommended target surgical and/or target orientation of the penetrator, including adjusting the orientation axis (sometimes also referred to as the central axis or RC axis) of the penetrator to substantially match the target surgical and/or target orientation of the penetrator's need for the orientation of the orientation axis of the penetrator.

There are various means by which the controller recommends the target surgical style and/or the target orientation of the penetrator to the physician. For example, a voice device or a display device coupled to the controller may be provided, through which the information relating to the target orientation of the second surgical and/or puncture instrument is played, and/or through which the information relating to the target orientation of the second surgical and/or puncture instrument is displayed. Wherein the recommended target surgical style may generally be more easily understood by a physician. Of course, direct recommendation of the target orientation of the penetrator may be acceptable to a physician skilled in the applicable surgical robotic system.

For example, the voice device includes a speaker or a headset provided independently of the master console 200 and the slave operating device 100. As another example, the voice device includes speakers integrated with the master console 200 and/or slave operating device 100.

For example, the display device includes a display provided independently of the master console 200 and the slave console 100, for example, a display on an image cart coupled to the master console 200 and the slave console 100. For another example, the display device includes a display integrated with the master console 200 and/or slave operating device 100.

In some embodiments, after predicting the target orientation of the penetrator, the controller may be configured to: the articulation assembly in the main arm is controlled to move in response to the target orientation to move the penetrator about the remote center of motion and to reach the target orientation. Wherein orienting the penetrator to the target orientation comprises orienting an orientation axis of the penetrator to the target orientation. Illustratively, the target orientation of the penetrator includes a target orientation based on a base coordinate system of the main arm.

In some embodiments, after predicting the target surgical style, the controller may be configured to: the method comprises the steps of obtaining the orientation of a puncture outfit related with a target operation mode as a target orientation, controlling the joint assembly in the main arm to move according to the target orientation so as to enable the puncture outfit to move around a remote movement center, and enabling the orientation of the puncture outfit to reach the target orientation.

Wherein controlling movement of the joint assembly in the main arm according to the target orientation comprises: converting the target orientation into joint variables of the joint assembly in the main arm by inverse kinematics; and further controlling the joint assembly in the main arm to move according to the corresponding joint variable so as to enable the orientation of the puncture outfit to reach the target orientation.

In some embodiments, where the second surgical style is a target surgical style comprising a plurality, the final determination of the target surgical style may comprise various embodiments, wherein the final determination of the target surgical style comprises selecting one of the second surgical style as the target surgical style.

For example, the final determination of the target surgical style may include a physician's selection of a second surgical style. For example, the selection may be made by voice recognition by a voice recognition device, such as determining the second surgical formula as the target surgical formula when it is recognized that the information associated with the second surgical formula includes, for example, a name, a number, or the like. For another example, information associated with a second surgical style may be generated and displayed on an interface of a display, with a corresponding one of the second surgical style being determined as a target surgical style by touching or squeezing a corresponding input device, such as a touch screen, keys, pedals, or the like. Of course, there may be other modes, for example, selection by brain wave recognition means, and for example, when information related to the second surgical formula is recognized, the second surgical formula is determined as the target surgical formula.

For example, the final determination of the target surgical style may include the surgical robotic system, e.g., the controller, automatically selecting the second surgical style. For example, one of the second surgical formulas having the highest degree of association may be set as the target surgical formula by default, wherein when the second surgical formula includes one surgical formula, the degree of association is the highest because the second surgical formula is unique. For another example, assuming that the closer the motion boundary associated with the end effector is to the first section, the higher the degree of association, the second surgical formula associated with the end effector that is closest to the center of the motion boundary of the end effector to the first section described above may be taken as the target surgical formula to reduce the magnitude of motion when the penetrator is adjusted.

In some embodiments, controlling movement of the articulation component in the primary arm in accordance with the target orientation includes: after the delay time is reached, the movement of the joint assembly in the main arm is controlled according to the target orientation. The delay time may be illustratively configured to be 0 to 120 seconds. Illustratively, when the delay time is configured to be 0 seconds, once the target surgical style and/or the target orientation of the penetrator is determined, the movement of the articulation component in the main arm may be controlled to adjust the orientation of the penetrator. Illustratively, when the delay time is configured to be 30 seconds, after the target surgical style and/or the target orientation of the penetrator is determined and the delay reaches 30 seconds, the joint assembly motion in the main arm is controlled to adjust the orientation of the penetrator, the delay time is configured to allow the physician sufficient time to redefine the target surgical style. Of course, after the target surgical and/or the target orientation of the penetrator is determined and the delay time is not reached, the controller may immediately control the movement of the main arm without expiration of the delay time after acquiring a confirmation instruction for immediately adjusting the orientation of the penetrator, which is sent by the doctor in an interactive manner.

In some embodiments, when the end effector frequently overruns at the boundary, the end effector is configured to enable automatic or manual adjustment of the orientation of the penetrator even in situations where it is not necessary or desirable to predict the target surgical and/or target orientation.

In some embodiments, as shown in fig. 25, the controller may be configured to perform:

step S31, obtaining first information that the end effector exceeds the movement boundary of the end effector during the operation performed by the doctor under the current orientation of the puncture outfit.

The first information comprises more than one of an out-of-limit position, an out-of-limit number and an out-of-limit time.

And step S32, determining a target center point based on the acquired first information.

Wherein determining the target center position based on the acquired first information includes: the position of one feature point on the first section is determined as a target center point based on the determined first section. The feature point comprises, for example, a center point of the first section. The determination of the first section includes any of the manners described above, and will not be described in detail herein.

Step S33, controlling the movement of the joint assembly in the main arm to move the puncture outfit around the remote movement center and align the orientation of the puncture outfit with the target center point.

Wherein movement of the spike about the remote center of motion includes rotational movement of the spike about the remote center of motion, typically with only a degree of freedom in posture. The aligning of the orientation of the penetrator to the target center point includes the axis of the orientation of the penetrator passing through the target center point.

Wherein, step S33 includes: the method comprises the steps of obtaining a target orientation which is expected to be reached by the movement of an orientation axis of the puncture outfit, determining a target joint variable of a joint component in a main arm according to the target orientation, controlling the movement of the corresponding joint component in the main arm according to the target joint variable so as to enable the puncture outfit to do RC movement, and enabling the orientation of the puncture outfit to be aligned to a target center point.

Illustratively, the target orientation may be obtained as follows. The controller is configured to perform: the orientation of a connecting line formed by the remote movement center and the target center point is obtained as the target orientation. The target orientation may be, for example, a target orientation in a base coordinate system of the main arm.

The alignment of the alignment axis of the puncture outfit with the target center point comprises the alignment of the alignment axis of the puncture outfit with a connecting line formed by the remote movement center and the target center point. Wherein the position of the target center point in the base coordinate system of the image instrument (sometimes also referred to as the endoscope coordinate system) can be determined based on the position of the target center point in the base coordinate system and the conversion relationship between the endoscope coordinate system and the base coordinate system of the main arm to facilitate acquisition of the target orientation.

Illustratively, the target joint variables described above may be obtained as follows. The controller is configured to perform: a target joint variable of the joint assembly in the main arm is determined in combination with the target orientation and inverse kinematics.

As shown in fig. 26, the image model of the motion boundary of the broken line indicates that the orientation of the puncture instrument 400 is adjusted to be aligned with the target center point before the orientation of the puncture instrument 400 is not adjusted.

Through the steps S31 to S33, the orientation of the puncture outfit 400 can be automatically adjusted, so that frequent overshooting of the end effector on the movement boundary when the doctor operates in the current orientation of the puncture outfit 400 can be avoided. Further, by continuously repeating the above steps S31 to S33, it is possible to continuously adjust the orientation of the puncture instrument 400 to finally achieve the orientation of the puncture instrument 400 desired by the doctor.

In some embodiments, as shown in fig. 27, the controller may be configured to perform:

in step S41, first information is obtained that the end effector is beyond its movement boundary during the surgical procedure performed by the physician with the current orientation of the penetrator.

Step S42 of determining a first section based on the first information, and determining a target organ in the operation image in combination with the first section and the operation image.

For brevity, reference is made to the foregoing for a description of the first section.

Illustratively, determining the target organ in the operation image in combination with the first section and the operation image may include:

all organs within the procedure image are identified and a target organ is determined from the identified organs based on the first section. That is, all organs in the operation image are first identified, and then an organ having association with the first segment is determined as a target organ from among the identified organs. Wherein determining the target organ in combination with the first section mainly comprises assigning a reasonable range to determine the target organ, e.g. the range comprising a range in which the first section is located on a side remote from the orientation axis of the current puncture device, from which range the corresponding organ is determined as the target organ.

Illustratively, determining the target organ in the operation image in combination with the first section and the operation image may also include:

an organ associated with the first section within the operational image is identified and used as a target organ. That is, not all organs within the operation image are identified, but an organ having a relationship with the first section is directly identified as a target organ. Thus, the image processing amount can be reduced, and the image processing speed can be further improved

Step S43, determining a target center point based on the identified target organ.

For example, the geometric center of the target organ may be determined as the target center point based on the contour information of the target organ.

Step S44, controlling the movement of the articulation assembly in the main arm to move the penetrator about the remote center of motion and align the orientation of the penetrator with the target center point.

Wherein, step S44 includes: and acquiring a target orientation of the puncture outfit, which is expected to move along the orientation axis, determining a target joint variable of a joint component in the main arm according to the target orientation, and controlling the corresponding joint component in the main arm to move according to the target joint variable so as to enable the puncture outfit to do RC movement and align the orientation of the puncture outfit to a target center point.

The target orientation may also be obtained by acquiring, as the target orientation, an orientation of a line formed by the remote center of motion and the target center point, for example. In some embodiments, the target organ may include more than one, and thus the target center point may include more than one, and the controller is configured to determine one of the plurality of target center points as the target center point based on instructions of interaction of the doctor with the surgical robotic system. Of course, the controller may determine one from the plurality of target center points as a target center point by default according to a preset rule, which includes: and acquiring a plurality of target orientations between the remote motion center and a plurality of target center points, and determining the target center point which is associated with one of the current orientation of the puncture outfit and the target center point with the smallest difference value in the plurality of target orientations as the target center point.

As shown in fig. 28, when the target organ includes liver lobes, the center of the liver lobes is set as the target center point, and before the image model of the movement boundary of the broken line indicates that the orientation of the puncture instrument 400 is not adjusted, the image model of the movement boundary of the solid line indicates that the orientation of the puncture instrument 400 is adjusted to be aligned with the target center point.

Through the above steps S41 to S44, it is possible to achieve alignment of the orientation axis of the puncture instrument 400 with respect to the target center point associated with the target organ so as to perform the operation on the target organ.

It is noted that when manually or automatically adjusting the orientation axis of the penetrator 400 about a remote center of motion, the safety risks that may be associated with an end effector when the medical device 150 moves following the motion of the penetrator 400 may be considered.

To avoid the safety risks described above as much as possible, the plurality of medical instruments 150 passing through the penetrator 400 may be retracted to a safe position, for example, before adjusting the orientation axis of the penetrator 400 to move about the remote center of motion. For example, the joint assemblies in manipulator assembly 120 may also be controlled to cooperatively move to maintain the position or pose of the end effector in response to changes in the orientation of the penetrator 400 as the axis of orientation of the penetrator 400 is adjusted about a remote center of motion.

With continued reference to fig. 14, in medical instrument 150, because the operative end effector 154 of surgical instrument 153 is more harmful to the patient than the image end effector 152 of image instrument 151, in some embodiments, only the joint assemblies in manipulator assembly 120 associated with surgical instrument 153 may be controlled to move cooperatively to maintain position and/or pose as the orientation axis of the adjustment penetrator 400 moves about the remote center of motion, while because the image instrument 151 is not controlled, the image instrument 151 follows the movement of the penetrator 400 may create a new field of view facilitating viewing of changes in the orientation of the penetrator 400.

Of course, in other embodiments, if desired to maintain the current surgical field, the joint assemblies in manipulator assembly 120 associated with surgical instrument 153 may also be controlled to move cooperatively to maintain position and/or pose while the joint assemblies in manipulator assembly 120 associated with image instrument 151 are controlled to move cooperatively to maintain position and/or pose.

In some embodiments, the target object manipulated by the manipulator assembly may also be changed according to manipulation of the manipulator assembly by the doctor manipulating the manipulator. The controller may be configured to perform:

And when the out-of-limit number of a section of the area, exceeding the movement boundary of the end effector, of a certain period is obtained to reach a target threshold value in the operation process of the doctor under the current orientation of the puncture outfit, switching the first operation mode into the second operation mode. The first operation mode is here the aforementioned master-slave following control mode, which includes manipulation of the manipulator assembly by the operating portion. The second operation mode here is a puncture instrument control mode, which includes manipulation of the main arm by the operation portion, that is, manipulation of the puncture instrument connected to the tip of the main arm, wherein for manipulation of the puncture instrument, more preferably, manipulation of the remote center of motion of the puncture instrument, the manipulation of the puncture instrument by the operation portion includes manipulation of the puncture instrument to move around the remote center of motion, by way of example.

Wherein the segment of the region may comprise a segment of the region on a predefined motion boundary. The one-segment region may include a one-segment region in which the number of times of overrun reaches a set threshold value among a plurality of regions divided in advance. The region may also include a region determined by methods such as counting the number of out-of-bounds and normal distribution of out-of-bounds locations during a procedure. With continued reference to fig. 17, exemplary, the first mode of operation may be switched to the second mode of operation when the number of overruns of the end effector beyond segment 1 of its motion boundary reaches a target threshold, e.g., 3, within a certain period, e.g., 10S.

Furthermore, by switching the operation mode, the doctor can conveniently and quickly adjust the orientation of the orientation axis of the puncture outfit through the operation part, and the doctor can adjust the orientation of the puncture outfit through the operation part without leaving the operation position. In particular, since there is significant force feedback when the end effector exceeds the motion boundary, the intent of the physician to switch modes of operation can be reflected explicitly, with good user experience.

For example, in the second operation mode, the orientation of the puncture instrument may be configured to change following a change in the orientation of the operation section. For example, the orientation of the puncture instrument changes in a first degree of freedom of orientation (e.g., yaw degree of freedom) following the change in the first degree of freedom of the operation section (e.g., yaw degree of freedom), the orientation of the puncture instrument changes in a first degree of freedom of orientation (e.g., pitch degree of freedom) following the change in the first degree of freedom of the operation section (e.g., pitch degree of freedom), and the orientation of the puncture instrument changes in a first degree of freedom of orientation (e.g., roll degree of freedom) following the change in the first degree of freedom of orientation of the operation section (e.g., roll degree of freedom).

For example, in the second operation mode, the orientation of the puncture instrument may also be configured to change following a change in the position of the operation section. For example, movement of the operating portion in a first positional degree of freedom (e.g., a horizontal degree of freedom) is converted into movement of the puncture instrument in a first orientational degree of freedom (e.g., a yaw degree of freedom), movement of the operating portion in a second positional degree of freedom (e.g., a vertical degree of freedom) is converted into movement of the puncture instrument in a second orientational degree of freedom (e.g., pitch degree of freedom), and movement of the operating portion in a third positional degree of freedom (e.g., a fore-aft degree of freedom) is converted into movement of the puncture instrument in a third orientational degree of freedom (e.g., roll degree of freedom).

In the above embodiments, it is generally necessary for the controller to acquire a command when it is desired to adjust the orientation of the puncture instrument. The instruction may be entered via a physician by way of interaction (e.g., voice, motion, brain waves, etc.), or the controller may generate the instruction, for example, by configuring the delay time and after expiration of the delay time. The controller controls movement of the articulation assembly in the main arm to adjust the orientation of the penetrator in response to the acquisition of the command.

In the embodiment, the operation space of the end effector of the medical instrument relative to the reference coordinate system of the main arm can be greatly improved by adjusting the orientation of the puncture outfit, so that the inconvenience caused by frequent occurrence of the out-of-limit problem is avoided.

In some embodiments, the controller may be configured to generate and display on any of the displays described above at least the image model of the first section of the end effector determined above to be frequently overrun at its motion boundary, for example, see the image model shown in any of fig. 18, 20-24. The doctor can clearly know the operation condition of himself and/or determine the operation intention he wants to achieve by watching the image model displayed by the display. In other embodiments, the controller may also be configured to generate an image model of the motion boundary of the end effector and highlight the determined first section, including highlighting by differences in color, brightness, lines (including line shape, thickness), strobe, etc. In some embodiments, the controller may be configured not to display the image model when the first section cannot be determined in order not to affect the doctor's view of the operation image.

In some embodiments, to facilitate a physician's knowledge of the predicted target surgical style and/or target orientation of the penetrator, the controller may be configured to highlight feature points, such as center points, of the identified organ and/or the determined first section on the manipulation image, including highlighting contours of the organ, highlighting the organ, and/or the target center point on the first section on the manipulation image, to facilitate a physician's determination of his or her own manipulation intent from information displayed in the auxiliary image.

In some embodiments, the image model described above also includes a first portion of the manipulator assembly 120 being manipulated, illustratively including the end effector, although the first portion may include other linkage assemblies (made up of multiple joint assemblies) including the end effector, such as in the medical instrument 150. The end effector may appear in the image model in a variety of ways, such as in the form of arrows, apertures, or icons that are nearly identical to the end effector structure. The position of the end effector in the image model may be calculated from positive kinematics. By generating an image model that includes the end effector, the physician may be given a grasp of the end effector and boundaries, such as when it is desired to switch modes of operation.

For example, when a doctor desires to adjust the orientation of the puncture outfit, the visual feedback and the force feedback of the operating part at the time of out-of-limit are combined, which is helpful for the doctor to clarify the operation intention of himself and reduce the possibility of misoperation.

In some embodiments, master-slave alignment primarily refers to aligning the pose of the distal end of the manipulator under the display coordinate system of the display with the pose of the distal end of the surgical instrument under the endoscope coordinate system of the imaging instrument having a master-slave mapping relationship that includes a manipulator communicatively coupled to a surgical instrument, movement of which may cause movement of the surgical instrument, or movement of which may cause movement of the manipulator. In the master-slave alignment mode, since the plurality of manipulators are accommodated in the same housing and the medical instruments mounted on the manipulators pass through the same puncture outfit in the single-port laparoscopic surgical robot, the relative pose relationship between the medical instruments is maintained by changing the pose of the housing accommodating the plurality of manipulators, so that the pose of the end effector of the surgical instrument under the end effector of the image instrument is not changed, and therefore, the single-port laparoscopic surgical robot does not have the need to realign the pose of the tail end of the operating part under the display coordinate system with the pose of the tail end of the surgical instrument under the endoscope coordinate system due to the change of the pose of the housing.

In the multi-hole laparoscopic surgical robot, a plurality of manipulators are completely and independently arranged, a medical instrument arranged on the manipulator passes through different puncture outfits, and the pose of any manipulator is changed, so that the pose of an end effector of the surgical instrument under the end effector of an image instrument is possibly changed, and therefore, the multi-hole laparoscopic surgical robot has the requirement of aligning the pose of an operation part under a display coordinate system with the pose of the surgical instrument under an endoscope coordinate system again due to the change of the pose of the manipulator. Whether a single port laparoscopic surgical robot or a multi-port laparoscopic surgical robot, the manipulator is typically located outside the patient's body and the pose change of the end effector is typically affected by coordinated movement (sometimes referred to as linkage) of the joint assemblies in the manipulator and the medical instrument. In the multihole laparoscopic surgery robot, for example, when collision occurs between manipulators, if relative pose relation between the manipulators is needed to be manually planned again between the manipulators located outside the patient, the pose of the tail end of the operation part under the display coordinate system can be configured to be aligned with the pose of the end effector under the endoscope coordinate system, so that master-slave alignment is always kept, and the follow-up mode can be conveniently and quickly entered. Wherein the relative pose relationship between the manipulators is manually planned, typically by an operator applying a force to the manipulator, which in turn drives the manipulator around a remote center of motion. The movement of the manipulator about the remote center of motion typically includes at least one of a pitch degree of freedom and a yaw degree of freedom.

Accordingly, the present disclosure may also provide a control method suitable for a multi-hole laparoscopic surgical robot to achieve a master-slave alignment mode. The slave manipulator device includes, for example, a first manipulator for mounting and driving the first medical instrument and a second manipulator for mounting and driving the second medical instrument. One of the first medical instrument and the second medical instrument is a surgical instrument, and the other is an image instrument. Illustratively, the operator drags the first manipulator to readjust the relative pose relationship between the first manipulator and the second manipulator, and configures one of the operating sections to establish a master-slave mapping relationship with the first manipulator and the first medical instrument mounted thereto, i.e., configures the first manipulator and the first medical instrument to be manipulated by the operating section.

In some embodiments, referring to fig. 29, the control method includes:

step S301, a current posture and a first target posture of a tip of an operation section are acquired.

Wherein movement of the end effector is typically caused by movement of the manipulator. In some embodiments, a target pose that the tip of the manipulator is expected to reach may be obtained, which may be described in the base coordinate system of the surgical robot; then analyzing the target pose to obtain a target joint variable of a joint component in the manipulator; finally, the target pose of the end effector is determined by combining the target joint variable of the joint assembly in the manipulator and the current joint variable of the joint assembly in the medical instrument, and the target pose of the end effector can still be described in a basic coordinate system of the surgical robot. In the master-slave alignment mode, regardless of whether the medical instrument in the manipulator being adjusted is a surgical instrument or an image instrument, the pose of the end effector of the surgical instrument in the endoscope coordinate system is changed, and the pose of the distal end of the operation portion is aligned with the pose of the distal end of the surgical instrument. Thus, assuming that the medical instrument in the first manipulator being moved is a surgical instrument, the target pose of the end effector of the surgical instrument in the base coordinate system may be converted into a (second) target pose in the endoscope coordinate system; further, assuming that the medical instrument in the first manipulator is an image instrument, although the first manipulator is moved, the surgical instrument mounted in the second manipulator is substantially moved with respect to the image instrument, at this time, the current posture of the end effector of the surgical instrument in the second manipulator in the base coordinate system may be converted into the (second) target posture in the endoscope coordinate system based on the target posture of the end effector of the image instrument in the first manipulator in the base coordinate system.

In the master-slave alignment mode, the target pose of the tip of the manipulator is typically required to be aligned with the target pose of the end effector of the surgical instrument, i.e., the first target pose of the manipulator in the display coordinate system may be determined based on the second target pose of the end effector of the surgical instrument in the endoscope coordinate system, without having to discuss whether the first manipulator being moved among the plurality of manipulators is the surgical instrument or the image instrument at all.

In the present disclosure, the pose (including position and pose) of the end effector may be the pose described in the endoscope coordinate system, or may be translated into the pose described in the endoscope coordinate system. The pose (including position and posture) of the tip of the operation portion may be the pose described in the display coordinate system, or may be converted into the pose described in the display coordinate system.

Step S302, it is detected whether the current posture reaches a movement boundary of the tip of the operation section, and it is detected whether the first target posture exceeds the movement boundary.

The motion boundary refers to a gesture motion boundary of the tip of the operation portion, and is determined by the motion ranges of all joint components associated with gesture degrees of freedom in the operation portion.

When the current gesture reaches the motion boundary and the first target gesture exceeds the motion boundary, step S303 is executed; otherwise, step S307 is entered.

Step S303, determining a first resistance supposed to act on the operation portion based on the first target posture and the current posture.

The first resistance is a virtual force for virtually resisting the movement of the tip of the operation portion toward the first target posture, that is, the movement of the tip of the operation portion toward the first target posture is not actually resisted.

In this step S303, the tip of the operation portion may be controlled to maintain the current posture.

Step S304, a second resistance force actually acting on the tip of the first manipulator is determined based on the first resistance force.

The end of the manipulator may refer to any portion of the manipulator, for example designating the portion of the manipulator that applies the force fixedly as the end of the manipulator. For example, the end of the manipulator may be located at the end of all joint assemblies in the manipulator for securing the applied force.

The second resistance is a realistic force that actually exists and will act on the tip of the first manipulator for actually resisting the target pose motion of the tip of the first manipulator toward the tip of the first manipulator.

Step S305 determines a joint target driving force desired to be output by the joint assembly in the first manipulator based on the second resistance.

Step S306, controlling the joint assembly in the first manipulator assembly to output the joint target driving force.

The joint assembly in the first manipulator is controlled to output a joint target driving force so as to realize force feedback on the first manipulator, thereby prompting an operator not to move the first manipulator to the gesture corresponding to the gesture command.

Step S307, determining a target joint variable of the joint component in the operation section based on the first target posture.

In step S308, the joint component in the control operation section outputs the target joint variable.

When the current gesture does not reach the motion boundary and/or the first target gesture does not exceed the motion boundary, the gesture at the tail end of the operation part can be enabled to follow the gesture motion of the end effector of the first medical instrument, so that the gesture alignment of the first medical instrument and the second medical instrument is kept, and the subsequent rapid switching to enter a master-slave control mode is facilitated to implement an operation.

The various forces referred to herein, such as the first resistance, the second resistance, and the joint target driving force, may each be a generalized force including at least one of a force and a moment.

In some embodiments, in the master-slave alignment mode, since it is desirable to perform force feedback by the first manipulator for the case where the operation portion performing the following motion crosses the movement boundary of the distal end of the operation portion, a corresponding torque control of the joint assembly in the first manipulator is required. However, there may be a difference in the first number of true degrees of freedom in the operating portion that affects the pose of the tip of the operating portion from the second number of true degrees of freedom in the first manipulator that affects the pose of the end effector. For example, in the multi-hole laparoscopic surgical robot shown in fig. 3, the true degrees of freedom in the operation portion that affect the posture of the tip of the operation portion include three degrees of freedom of rotation, degrees of freedom of pitch, and degrees of freedom of yaw; whereas the true degrees of freedom in the first manipulator that affect the attitude of the end effector include only pitch and yaw degrees of freedom, two in total. In other words, the degrees of freedom affecting the pose may also be referred to as true pose degrees of freedom.

Of course, the end effector, by including the linkage and wrist assembly, still generally achieves the rotational, pitch, and yaw degrees of freedom that are achieved with the manipulator.

In some embodiments, to compensate for the lack of true degrees of freedom in the first manipulator that affects the pose of the end effector, it may be assumed that the first manipulator further includes a third number of virtual degrees of freedom to facilitate the determination of the joint target driving force in step S305 described above. Wherein the third number is equal to a difference between the first number and the second number.

In some embodiments, the step of determining the joint target driving force desired to be output by the joint assembly in the first manipulator based on the second resistance comprises: the joint target driving force output by the real degree of freedom (of the second number) and the imaginary degree of freedom (of the third number) of the joint assembly in the first manipulator is determined based on the second resistance.

Correspondingly, the step of controlling the joint assembly in the first manipulator assembly to output the joint target driving force includes: the (second number of) true degrees of freedom of the joint assembly in the first manipulator assembly is controlled to output the joint target driving force. The virtual degrees of freedom are involved only in determining the joint target driving force, and are not involved in outputting the joint target driving force.

Although the first manipulator lacks a corresponding true degree of freedom, by controlling the true degree of freedom of the joint assembly in the first manipulator to output the joint target driving force, it is possible to more clearly prompt the operator not to move the first manipulator any more to the posture that generates the posture instruction.

In some embodiments, in the step S305, other forces that are expected to actually act on the end of the first manipulator may be superimposed, where the forces may include one or more desired effects, and the forces are also generalized forces. Illustratively, the desired superimposed forces include, but are not limited to, damping forces, and/or joint compensating driving forces for balancing forces generated by internal loads in the first manipulator. For example, the joint compensation driving force may include at least one of a gravity compensation force and a friction compensation force. For these forces that may be superimposed, reference is made to the foregoing and no further description is repeated here.

In one embodiment, the desired superimposed force includes a damping force. The step S305 includes:

acquiring a speed of the tip of the first manipulator, determining a damping force actually acting on the tip of the first manipulator based on the speed, the damping force being used to accumulate potential energy generated when the second resistance acts on the tip of the first manipulator in actual consumption;

Based on the second resistance and damping forces, a joint target driving force is determined for which the first manipulation of the joint assembly output is desired.

In the master-slave alignment mode, the speed is an angular speed since the motion of the first manipulator about the remote center of motion is one of a pitch motion and/or a yaw motion. Further, the step of acquiring the velocity of the tip of the first manipulator, and determining the damping force actually acting on the tip of the first manipulator based on the velocity includes:

acquiring an angular velocity of the tip of the first manipulator;

acquiring a damping force model;

and determining the damping force by combining the angular velocity and the damping force model.

For example, the damping force model may be expressed as follows:

（14）

in the formula (14) of the present invention,is a damping force; />An angular velocity of the end of the first manipulator; />Is an angular velocity damping coefficient; />Is a transpose of a jacobian matrix of the first manipulator, wherein the jacobian matrix is determined in real-time based on joint variables of joint components in the first manipulator.

In some embodiments, the step S303 may include: and under the condition that the current gesture reaches the gesture motion boundary and the first target gesture exceeds the gesture motion boundary, acquiring a first gesture motion boundary impedance model, and determining first resistance based on the deviation between the first target gesture and the current gesture and the first gesture motion boundary impedance model. The first gesture motion boundary impedance model may be expressed as formula (3) above, for example, and will not be repeated here.

In some embodiments, the step S304 may include: a second gestural motion boundary impedance model is obtained, a second resistance is determined based on the first resistance and the second gestural motion boundary impedance model, and the second resistance determined by the second gestural motion boundary impedance model has an improvement in slope and/or slope change rate compared to the first resistance determined by the first gestural motion boundary impedance model. The second gesture motion boundary impedance model may be expressed as formula (4) above, for example, and will not be repeated here.

In some embodiments, the step S302 may also be implemented based on joint space considerations, and the step may include:

a target joint variable of the joint assembly in the operation portion is determined based on the first target pose, and a current joint variable of the joint assembly in the operation portion is determined based on the current pose.

A target joint component is determined from the joint components in the operation section that satisfies a first condition including a current joint variable of the target joint component reaching an articulation boundary of the target joint component and the target joint variable exceeding the articulation boundary of the target joint component.

When there is a target joint component that satisfies the first condition, it indicates that the current gesture is detected to reach the motion boundary in step S302, and a condition that the first target gesture exceeds the motion boundary is detected.

Referring to fig. 30, the step S303 may include:

step S3031, a joint driving force supposed to act on the target joint component is determined based on the target joint variable and the current joint variable of the target joint component.

In step S3032, the joint driving force of the non-target joint component that does not satisfy the first condition among the joint components in the operation part is assigned to zero.

Step S3033, a first resistance supposed to act on the distal end of the operation portion is determined based on the joint driving force of the target joint assembly and the joint driving force of the non-target joint assembly.

In an embodiment, the implementation method of step S3031 may include obtaining a joint boundary impedance model, and determining the joint driving force supposed to act on the target joint component by combining the target joint variable, the current joint variable, and the joint boundary impedance model of the target joint component. The joint boundary impedance model may be expressed, for example, as the foregoing formula (6), and a detailed description thereof will not be repeated here.

In the above step S3033, the joint driving forces of the joint assembly in the operation portion may be combined into force vectors to be expressed in a matrix form as described in the formula (7), and the detailed description is not repeated here.

Then, by directly obtaining the inverse solution of statics, the first resistance of the distal end of the first manipulator in the operation space can be obtained based on the joint driving force of the joint assembly in the operation section in the joint space.

In one embodiment, the present disclosure also provides a controller for a surgical robot. As shown in fig. 31, the controller may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503, and a communication bus 504.

The processor 501, the communication interface 502, and the memory 503 perform communication with each other via the communication bus 504.

A communication interface 502 for communicating with other devices such as various types of sensors or motors or solenoid valves or other network elements of clients or servers, etc.

The processor 501 is configured to execute the program 505, and may specifically perform relevant steps in the above-described method embodiments.

In particular, program 505 may comprise program code comprising computer operating instructions.

The processor 501 may be a central processing unit CPU, or a specific integrated circuit ASIC (ApplicationSpecific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present disclosure, or a graphics processor GPU (Graphics Processing Unit). The one or more processors included by the controller may be the same type of processor, such as one or more CPUs, or one or more GPUs; but may also be different types of processors such as one or more CPUs and one or more GPUs.

A memory 503 for storing a program 505. The memory 503 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 505 is particularly useful for causing the processor 501 to execute the control method according to any one of the embodiments described above.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples represent only a few embodiments of the present disclosure, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the disclosure, which are within the scope of the disclosure. Accordingly, the scope of protection of the present disclosure should be determined by the following claims.

Claims

1. A surgical robot, comprising:

An operation part having a first joint component;

a manipulator for mounting a medical instrument and moving an end of the medical instrument to a first target attitude in response to moving the operation section to a second target attitude in a master-slave following mode, the medical instrument including a link, a wrist joint assembly, and an end effector as the end, which are sequentially connected, the link providing the end effector with a rotation degree of freedom, the wrist joint assembly providing the end effector with at least one of a pitch degree of freedom and a yaw degree of freedom, the end effector having an orientation relative to a coordinate axis of the rotation degree of freedom, the orientation including an initial orientation when the link, the wrist joint assembly, and the end effector are arranged in a straight state; a kind of electronic device with high-pressure air-conditioning system

the first resistance, the first target resistance, and the first joint target driving force are generalized forces;

wherein the step of determining a first joint target drive torque desired to be output by the first joint assembly based on the first target resistance comprises:

acquiring a speed of the tip of the operation portion, determining a damping force actually acting on the tip of the operation portion based on the speed, the damping force being used to actually consume potential energy accumulated when the first target resistance acts on the tip of the operation portion;

Determining the first joint target driving force desired to be output by the first joint assembly based on the first target resistance and the damping force;

the velocity is a generalized velocity and the damping force is a generalized force.

2. The surgical robot of claim 1, wherein the controller is further configured to:

determining a target rotation angle of the connecting rod based on the first target gesture;

determining a direction of a second resistance imaginary to act on the end effector when the target rotation angle exceeds a motion boundary of the rotation degree of freedom;

determining the second resistance based on the direction of the second resistance, the target rotation angle, and the movement boundary;

determining a second target resistance force actually acting on the tip of the operation portion based on the second resistance force, the second resistance force being for virtually resisting the rotational degree of freedom movement of the end effector into the first target posture, the second target resistance force being for actually resisting the rotational degree of freedom movement of the tip of the operation portion into the second target posture;

determining a second joint target drive torque desired to be output by the first joint assembly based on the second target resistance;

Controlling the first joint assembly to output the second joint target driving moment so as to realize force feedback at the operation part;

the second resistance, the second target resistance, and the second joint target driving force are generalized forces.

3. The surgical robot of claim 2, wherein the step of determining a direction of the first resistance imaginary to the end effector comprises: determining a direction of the first resistance based on the target orientation and the initial orientation;

the step of determining a direction of a second resistance imagined to act on the end effector comprises: and determining the direction of the second resistance based on the target rotation angle and the target direction.

4. A surgical robot as claimed in claim 3, wherein the step of determining the direction of the first resistance based on the target orientation and the initial orientation comprises: cross multiplying the target pointing direction with a first vector obtained from the initial pointing direction, obtaining a modular length of the first vector, and determining the direction of the first resistance based on the first vector and the modular length of the first vector;

the step of determining the direction of the second resistance based on the target rotation angle and the target pointing direction includes: and obtaining a second vector based on a sign function related to the target rotation angle and the target direction, obtaining the modular length of the second vector, and determining the direction of the second resistance based on the second vector and the modular length of the second vector.

5. The surgical robot of claim 2, wherein the step of determining the magnitude of the first resistance imaginary to the end effector based on the deviation angle and the directional motion boundary comprises: acquiring a first directional motion boundary impedance model associated with the direction of the first resistance, and determining the first resistance based on the deviation angle, the directional motion boundary and the first directional motion boundary impedance model, wherein the first directional motion boundary impedance model is expressed as follows:

，

representing the first resistance; />Representing the spring rate; />Representing the deviation angle; />Representing the pointing motion boundary; />A maximum moment of resistance threshold value representing the first resistance; />Representing the stiffness coefficient; />A direction indicating the first resistance;

the step of determining the magnitude of the second resistance supposed to act on the end effector based on the target rotation angle and the motion boundary includes: acquiring a second directional motion boundary impedance model related to the direction of the second resistance, and determining the second resistance based on the target rotation angle, the motion boundary and the second directional motion boundary impedance model, wherein the second directional motion boundary impedance model is expressed as follows:

，

Representing the second resistance; />Representing target rotationAbsolute value of angle; />A motion boundary representing a degree of freedom of rotation; />Representing the spring rate; />A maximum moment of resistance threshold value representing the second resistance; />Representing the stiffness coefficient; />Indicating the direction of the second resistance.

6. The surgical robot of claim 1, wherein the manipulator includes a second joint assembly and the medical instrument includes a third joint assembly including the wrist assembly and the linkage, the step of determining a target orientation of the end effector based on the first target pose comprising:

determining target joint variables of the second joint component and the third joint component based on the first target pose;

the target pointing direction of the end effector is determined based on target joint variables of joint assemblies of the wrist assembly that are related to the yaw and pitch degrees of freedom.

7. The surgical robot of claim 1, wherein the wrist assembly includes a yaw degree of freedom and a pitch degree of freedom, the pointing motion boundary being determined jointly based on a first maximum angle of deviation between the yaw degree of freedom and the initial pointing direction and based on a second maximum angle of deviation between the pitch degree of freedom and the initial pointing direction.

8. The surgical robot of claim 7, wherein the surgical robot is configured to,

when the first maximum deviation angle is the same as the second maximum deviation angle, the first maximum deviation angle or the second maximum deviation angle is configured as the pointing motion boundary;

when the first maximum deviation angle is different from the second maximum deviation angle, a relatively smaller one of the first maximum deviation angle and the second maximum deviation angle is configured as the pointing motion boundary.

9. The surgical robot of claim 1 or 2, wherein the manipulator is further operable to move the end effector to a first target position in response to moving the manipulator to a second target position, the end effector including a positional movement boundary in an operating space, the controller further configured to:

acquiring the first target position and the current position of the end effector;

detecting whether the current position reaches the position movement boundary or not, and detecting whether the first target position exceeds the position movement boundary or not;

determining a third resistance supposed to act on the end effector based on the first target position and the current position when the current position reaches the position movement boundary and the first target position exceeds the position movement boundary, and determining a fourth resistance supposed to act on the end of the operation portion actually based on the third resistance for supposed to resist movement of the end effector toward the first target position and the fourth resistance for supposed to resist movement of the end of the operation portion toward the second target position;

Determining a third joint target driving force desired to be output by the first joint assembly based on the fourth resistance;

controlling the first joint assembly to output the third joint target driving force so as to realize force feedback at the operation part;

the third resistance force, the fourth resistance force, and the third joint target driving force are generalized forces.

10. The surgical robot of claim 9, wherein the step of determining a third resistance supposed to act on the end effector based on the first target position and the current position, and determining a fourth resistance actually acting on the tip of the operation portion based on the third resistance, comprises:

acquiring a first position movement boundary impedance model under the condition that the current position reaches the position movement boundary and the first target position exceeds the position movement boundary, and determining the third resistance based on the first target position, the current position and the first position movement boundary impedance model;

a second positional movement boundary impedance model is obtained and the fourth resistance is determined based on the third resistance and the second positional movement boundary impedance model, the fourth resistance determined by the second positional movement boundary impedance model having a slope and/or an improvement in the rate of change of slope as compared to the third resistance determined by the first positional movement boundary impedance model.

11. The surgical robot of claim 10, wherein the first positional movement boundary impedance model is expressed as follows:

，

representing the third resistance; />Representing the spring rate; />Representing the current position of the tip of the medical instrument and reaching the position motion boundary; />The target location representing the end of the medical instrument and exceeding the location movement boundary;

the second positional movement boundary impedance model is expressed as follows:

，

representing the fourth resistance; />A mode length representing the third resistance; />Representing the spring rate; />Representing the stiffness coefficient; />Representing a maximum resistance threshold; />Indicating the direction of the fourth resistance.

12. The surgical robot of claim 9, wherein the surgical robot is configured to,

the surgical robot includes a main arm and a manipulator assembly connected to the main arm, the manipulator assembly including the manipulator and the medical instruments, a plurality of the medical instruments being inserted into a patient through the same one of the piercers, the piercers passing through a remote center of motion including a location where the piercers are connected to the patient, the controller further configured to:

Acquiring first information of the end effector beyond the position movement boundary in the current orientation of the puncture outfit;

predicting a target orientation of the puncture outfit based on the acquired first information;

and controlling the movement of an articulation assembly in the main arm according to the target orientation so as to enable the puncture outfit to move around the remote movement center so as to enable the puncture outfit to reach the target orientation.

13. A surgical robot as claimed in claim 1, wherein the rotational range of the rotational degrees of freedom is 360 ° or more and the rotational range of the pitch degrees of freedom and/or the yaw degrees of freedom is less than 360 °.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program configured to be loaded and executed by a processor to implement a control method of:

acquiring a first target attitude of an end effector, and determining a target pointing direction of the end effector based on the first target attitude;

determining a direction of a first resistance imaginary to act on the end effector when a deviation angle between the target pointing direction and an initial pointing direction of the end effector exceeds a pointing motion boundary of the end effector;

determining a first target resistance actually acting on the tip of the operation portion based on the first resistance for virtually resisting the movement of the end effector to the pitch degree of freedom and/or the yaw degree of freedom in the first target posture, and the first target resistance for actually resisting the movement of the tip of the operation portion to the pitch degree of freedom and/or the yaw degree of freedom in the second target posture;