CN116965938A

CN116965938A - Surgical robot, medical instrument withdrawal method, and readable storage medium

Info

Publication number: CN116965938A
Application number: CN202210432186.2A
Authority: CN
Inventors: 郑智; 王深辉; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-04-23
Filing date: 2022-04-23
Publication date: 2023-10-31
Also published as: WO2023202292A1

Abstract

The application is applicable to the technical field of surgical robots, and provides a surgical robot, a medical instrument withdrawing method and a readable storage medium, wherein the surgical robot comprises: the puncture outfit is used for being connected with a living body; a medical device comprising a connection assembly including a first joint, the connection assembly being inserted into a living being through a penetrator, a controller coupled with the medical device and configured to: in response to a request to exit the medical instrument, determining an instruction set comprising a first instruction for commanding the first joint to resume from a current state to an straightened state and a second instruction for commanding the medical instrument to retract a target distance along an axis of the penetrator; the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract to the target distance along the axial direction of the puncture outfit according to the second instruction, so that the connecting component straightens and retracts to the target position of the puncture outfit, and flexible and safe withdrawal of the medical instrument is realized.

Description

Surgical robot, medical instrument withdrawal method, and readable storage medium

Technical Field

The application relates to the technical field of surgical robots, in particular to a surgical robot, a medical instrument withdrawing method and a readable storage medium.

Background

Minimally invasive surgery refers to a surgical mode in which surgery is performed inside a living body 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 surgery and robotics are becoming mature and widely used, and robot-assisted minimally invasive surgery is becoming a trend of development of minimally invasive surgery and has been gradually applied to actual clinics.

The doctor needs to frequently replace the medical instrument to complete the operations of clamping, cutting, separating, suturing, knotting and the like, so the rapidity and the safety of the replacement of the medical instrument have great influence on the whole operation, wherein the safety of the replacement of the medical instrument is one of the key problems of the research of an operation robot.

The medical instrument may be mounted with different end effectors, such as an image end effector or a manipulation end effector. When the medical instrument needs to be replaced or withdrawn, if the joint of the medical instrument is in a bent state, if the instrument is withdrawn directly, damage to living tissues may be caused.

Therefore, how to safely withdraw the medical device becomes a problem to be solved.

Disclosure of Invention

The embodiment of the application provides a surgical robot, a medical instrument withdrawing method and a readable storage medium, which can solve the problem of how to withdraw the medical instrument safely.

In a first aspect, an embodiment of the present application provides a surgical robot, including:

the puncture outfit is used for being connected with a living body; medical instrument, medical instrument includes coupling assembling, and coupling assembling includes first joint, and coupling assembling passes the puncture ware and inserts in the organism, its characterized in that still includes:

a controller coupled with the medical instrument and configured to:

in response to a request to exit the medical instrument, determining an instruction set comprising a first instruction for commanding the first joint to resume from a current state to an straightened state and a second instruction for commanding the medical instrument to retract a target distance in an axial direction of the penetrator;

the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract to the target distance along the axial direction of the puncture outfit according to the second instruction, so that the connecting component is straightened and retracted to the target position of the puncture outfit.

Optionally, controlling the first joints to straighten one by one in the order of configuration includes:

The joints in the first joint are controlled to straighten in the order of the joint arrangement from distal to proximal.

Optionally, the distal end of the connecting component is connected with an end effector, and the instruction set further comprises a third instruction, wherein the third instruction is used for commanding the medical instrument to retract by a compensation distance along the axial direction of the puncture outfit, and the compensation distance is used for compensating the position variation of the end effector along the axial direction of the puncture outfit, which is caused by the first joint during the straightening period;

controlling the first joints to straighten one by one according to a configuration sequence according to a first instruction, including:

controlling joint straightening in the first joint according to the first instruction; and is combined with

In response to the straightening of the joint, the medical instrument is controlled to retract a compensation distance according to a third instruction so that the position of the end effector along the axial direction of the penetrator is not substantially changed.

Optionally, controlling the first joints to straighten one by one according to the configuration sequence according to the first instruction includes:

controlling the extension of the far-end joint in the first joint according to the first instruction;

controlling the medical instrument to retract a compensation distance according to a third instruction in response to the extension of the most distal joint so that the position of the end effector in the axial direction of the penetrator is not substantially changed;

the joint adjacent to the most distal joint is updated to the most distal joint.

Optionally, determining the instruction set includes:

acquiring current joint variables and instruction joint variables of a first joint at adjacent moments in the straightening period;

determining a current position of the end effector based on the current joint variable and determining a commanded position of the end effector based on the commanded joint variable;

determining a compensation distance for which the medical instrument is expected to retract axially along the penetrator based on the current position and the commanded position;

a third instruction is generated based on the compensation distance.

Optionally, determining the instruction set includes:

determining a first position difference of the end effector along the axial direction of the puncture outfit based on the target position of the end effector and the target position of the puncture outfit;

determining a second position difference based on the first position difference and the compensation distance;

taking the second position difference value as a target distance;

a second instruction is generated based on the target distance.

Optionally, before determining the second position difference value based on the first position difference value and the compensation distance, determining the compensation distance includes:

acquiring a current joint variable of a first joint of the connecting assembly in a current state;

acquiring a target joint variable of a first joint of the connecting assembly in a straightening state;

determining a current position of the end effector based on the current joint variable and determining a target position of the end effector based on the target joint variable;

Determining a compensation distance for the desired axial retraction of the medical instrument along the penetrator based on the current position and the target position of the end effector;

determining an instruction set, comprising:

a third instruction is generated based on the compensation distance.

Optionally, determining the instruction set includes:

and determining a first instruction corresponding to the first joint according to the target joint variable and the current joint variable.

Optionally, the distal end of the connection assembly is connected to an end effector, the number of medical instruments is 2 or more, and the controller is configured to:

estimating an exit path of the medical instrument according to the selected exit strategy;

judging whether intersection exists between the exit paths according to the exit paths;

if the exit paths of the medical instrument are not intersected with the exit paths of other medical instruments, exiting according to a preset sequence;

if the exit path of the medical instrument is intersected with the exit paths of other medical instruments, judging whether the exit paths are intersected or not after rotating the medical instrument until the paths among all the medical instruments are not intersected.

Optionally, the medical instrument further comprises an end effector, the type of medical instrument comprising a type of end effector, the type of end effector comprising a type of executable opening and closing action, the controller configured to:

The instruction set further includes fourth instructions for commanding the end effector to open;

before the first joints are controlled to straighten one by one according to the first instruction and the medical instrument is controlled to retract along the axial direction of the puncture outfit by a target distance according to the second instruction, the end effector is controlled to open according to the fourth instruction when the type of the end effector is identified as the type capable of executing opening and closing actions.

Optionally, the medical instrument further comprises an end effector, the type of medical instrument comprises a type of end effector, the type of end effector comprises a type of energy instrument, and the controller is configured to:

the instruction set further includes a sixth instruction for commanding the end effector to shut off the energy source;

before the first joints are controlled to straighten one by one according to the first instruction and the medical instrument is controlled to retract along the axial direction of the puncture outfit by a target distance according to the second instruction, the end effector is controlled to cut off the energy source according to the sixth instruction when the type of the end effector is identified as the type of the energy instrument.

In a second aspect, an embodiment of the present application provides a medical device exit method, including:

In a third aspect, embodiments of the present application provide a computer readable storage medium storing a computer program configured to be loaded by a processor and to perform steps of implementing a medical instrument exit method as in any of the embodiments described above.

It will be appreciated that the advantages of the second to third aspects may be found in the relevant description of the first aspect, and are not described in detail herein.

Compared with the prior art, the embodiment of the application has the beneficial effects that: in response to a request for withdrawing the medical instrument, determining an instruction set, wherein the instruction set comprises a first instruction for commanding the first joint to recover to a straightened state from a current state and a second instruction for commanding the medical instrument to retract a target distance along the axial direction of the puncture outfit; the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract to the target distance along the axial direction of the puncture outfit according to the second instruction, so that the connecting component straightens and retracts to the target position of the puncture outfit, and flexible and safe withdrawal of the medical instrument is realized.

Drawings

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

FIG. 1 is a schematic view of a surgical robot according to an embodiment of the present application;

FIG. 2 is a partial schematic view of a surgical robot according to an embodiment of the present application;

FIG. 3 is a partial schematic view of an embodiment of a medical instrument in the surgical robot of the present application;

FIG. 4 is a partial schematic view of an embodiment of a medical instrument in a surgical robot according to the present application;

FIG. 5 is a schematic flow chart of a medical instrument exit method of a surgical robot in an embodiment of the application;

FIG. 6 is a schematic view illustrating a state of a surgical robot according to an embodiment of the present application;

FIG. 7 is a schematic view showing a state of another surgical robot according to an embodiment of the present application;

FIG. 8 is a schematic view of a state of another surgical robot according to an embodiment of the present application;

FIG. 9 is a schematic view showing a state of another surgical robot according to an embodiment of the present application;

fig. 10 is a schematic view illustrating a state of another surgical robot according to an embodiment of the present application.

Reference numerals illustrate:

1-a main operation table; 2-slave operating device; 11-an operation part; 12-a display unit; 21-a mechanical arm; 22-a power mechanism; 23-a medical device; 24-sleeve; 4-puncture outfit, 100A-image end effector; 100B-operating the end effector; 31-connecting rod; a 32-connection assembly; 221-a guide rail; 222-power section.

Detailed Description

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

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 herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "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.

Referring to fig. 1 to 3, the surgical robot includes a master console 1 and a slave operating device 2 controlled by the master console 1. The master console 1 has an operation section 11 and a display section 12, and a doctor transmits a control command to the slave operation device 2 by operating the operation section 11 so that the slave operation device 2 performs a corresponding operation in accordance with the control command and observes the operation region through the display section 12.

The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided at a distal end of the robot arm 21, a medical instrument 23 detachably attached to the power mechanism 22, and a puncture outfit 4 in which the medical instrument 23 is fitted. The power mechanism 22 is also detachably provided with a puncture outfit 4, and the puncture outfit 4 penetrates through an incision on the body of a living body to seal the operation space in the incision and avoid the operation space from being influenced by air leakage. The medical device 23 is inserted through the puncture outfit 4 to reach the operation space, and is operated by the driving of the power mechanism 22 to perform the operation.

Specifically, as shown in fig. 2 and 3, the medical device 23 is inserted into the puncture outfit 4, and the end effector 100 thereof extends out of the puncture outfit 4, 100A is an image end effector, 100B is an operation end effector, and is driven to perform an operation by the power mechanism 22. The medical device 23 includes a linkage rod 31, a connection assembly 32, and an end effector 100 connected in sequence from a proximal end to a distal end, the connection assembly 32 including a plurality of joint assemblies (not shown). The end effector 100 includes an image end effector 100A and an operation end effector 100B, the image end effector 100A being for capturing an image within a field of view, which may be an endoscope, for example; the end effector 100B is operable to perform surgical procedures such as cutting, stapling, and may be, for example, an electric knife, a clamp, an ultrasonic knife.

As shown in fig. 4, the power mechanism 22 is internally provided with guide rails 221, the guide rails 221 are slidably provided with power units 222, the power units 222 are used for mounting and driving the medical instrument 23 with the end effector 100, the number of the guide rails 221 is more than one (4 as shown in fig. 4), and the number of the power units 222 is the same as the number of the guide rails 221. The guide rail 221 is typically a linear guide rail, and the power unit 222 moves linearly on the guide rail 221.

Specifically, the operation unit 11 establishes mapping control of the pose with the medical instrument 23 of the slave operation device 2. The mapping may correspond to a positional relationship, which may be a correspondence such as a distance proportionality, a distance trend correspondence, etc. Alternatively, such a mapping may be a motion relationship correspondence, which may be a motion gesture correspondence, a motion trend correspondence, or the like. Thus, the operator can control the medical instrument 23 to perform a corresponding action (e.g., pitch, yaw, roll, clamp, etc.) through the operation portion 11.

The surgical robot may further include a controller, which may be integrated with the master console 1 or with the slave manipulator 2. Of course, the controller may be independent of the master console 1 and the slave console 2, and may be deployed locally, for example, or may be deployed at the cloud. Wherein the controller may be comprised of more than one processor. It should be noted that the number of controllers may be plural, and the plural controllers may process different information respectively, where one of the plural controllers may have a master controller, and the other controllers may be slave controllers or may be independent from each other.

Fig. 5 is a schematic view of a medical instrument ejection method of a surgical robot according to an embodiment of the present application, which may be performed by the controller described above. The method comprises the following steps:

step S1: in response to a request to exit the medical instrument, an instruction set is determined, the instruction set including a first instruction for commanding the first joint to resume the straightened state from the current state and a second instruction for commanding the medical instrument to retract a target distance in an axial direction of the penetrator.

In the surgical treatment process, a doctor may need to replace a medical instrument, for example, the instrument fails and cannot be used, or the selected instrument model cannot meet the actual needs, and the like, and at the moment, the doctor needs to withdraw an unsuitable medical instrument and replace a new medical instrument; in addition, after the operation is finished, the doctor also needs to withdraw the medical instrument. When the doctor finds that the medical apparatus needs to be withdrawn, the position and the posture of the end effector are possible, for example, the end effector is far or near to the organism tissue, and the end effector is opened or closed, straightened or bent, so that the proper withdrawal strategy needs to be determined according to complex and changeable conditions.

The request to withdraw the medical device is typically initiated by a physician, e.g. the physician may input the request to withdraw the medical device through a configuration device, which may have various options, e.g. a display screen, a mouse, keys, a foot pedal, etc. The request to withdraw the medical instrument may also be initiated by the controller, for example, if an end of a procedure is detected, or if a medical instrument failure is detected, etc., the request to withdraw the medical instrument may be initiated.

The instruction set includes one or more commands, which may be generated simultaneously or in separate time periods, and the embodiment of the present application is not limited in this regard.

The connection assembly may include one or more joints, where the state of the plurality of joints may be different when a medical instrument is to be replaced, for example, some joints may be in a straightened state, some joints may be in a bent state to be straightened, some joints may be in a bent state but have a small degree of curvature, and the straightening operation may not be performed.

The instruction set includes a first instruction. The first joint may comprise one or more joints. The joints may be independent of each other or may be in a linkage relationship. For example, joints A and B have a linkage relationship, so long as joint A receives a driving instruction to move, B follows the movement, and B does not need a separate driving instruction to perform movement control. When the first joint includes a plurality of joints, the first instruction includes a straightening instruction corresponding to a state in which the plurality of joints are restored to straighten from the current state, the straightening instruction corresponding to each joint may be generated at one time in response to a request for exiting the medical apparatus, or the straightening instruction of each joint may be generated separately, which is not limited in the embodiment of the present application.

The instruction set includes a second instruction. Because of the surgical need, the medical device is typically inserted into the living body a distance to access the living tissue for performing the surgical procedure, and therefore, when the medical device is required to be withdrawn, the medical device is also required to be retracted in the axial direction of the puncture outfit, which is typically parallel to the axial direction of the medical device. Wherein the retracted distance is referred to as the target distance. The medical instrument may be commanded to retract a target distance along an axial direction of the penetrator by a second command.

Step S2: the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract to the target distance along the axial direction of the puncture outfit according to the second instruction, so that the connecting component is straightened and retracted to the target position of the puncture outfit.

Controlling the first joints to straighten one by one according to the first instruction in the configuration order may include a plurality of cases:

the first joint comprises a joint, and the first joint is straightened, or the first joint is retracted while being straightened, or the first joint is retracted first and then straightened.

The first joint includes a plurality of joints, and the case is more complex than including only one joint, including: the plurality of joints of the first joint straighten one by one in the order of configuration, for example, straighten one by one in the order from the joint at the distal end to the joint at the proximal end, or straighten a plurality of joints simultaneously, or straighten one by one in the order from the joint at the distal end to the joint at the proximal end, straighten one by one, retract while straightening one by one, or retract first and then straighten one by one, etc., so that the movement modes of the first joint include various choices, and the embodiment of the present application does not limit which movement mode is specifically selected for each joint in the first joint.

The position of a certain point associated with the puncture outfit is used as the target position of the puncture outfit. The point associated with the puncture device as the target position may be located on the puncture device, or may be located on an extension of a shaft of the puncture device, which is located on the distal end side of the puncture device, and the puncture device generally has a tubular insertion portion, and the shaft here generally means a central axis of the insertion portion. When positioned on the extension of the shaft, the end face of the puncture outfit should not exceed the preset range. The preset range can be flexibly set according to the needs. Wherein the target distance to be retracted varies depending on the end effector position, and the first joint extension motion, and the target position.

According to the embodiment of the application, the first joints are controlled to straighten one by one according to the configuration sequence, and the medical instrument is controlled to retract to the target distance along the axial direction of the puncture outfit according to the second instruction, so that the connecting component straightens and retracts to the target position of the puncture outfit, and the medical instrument can be flexibly and safely withdrawn after the doctor finishes the operation.

In another embodiment of the present application, there is provided a medical instrument withdrawing method of a surgical robot, a distal end of a connection assembly is connected to an end effector, a first joint is withdrawn while being straightened according to a sequence of configuration, and the medical instrument withdrawing method includes:

Step S101, in response to a request to exit the medical instrument, determining an instruction set.

During the process of restoring the first joint to the straightened state, the position of the end effector along the axial direction of the puncture outfit changes along with the straightening of the first joint, for example, the end effector becomes larger towards the distal end direction in the axial direction and is closer to the biological tissue, so that the retraction of the medical instrument needs to be controlled at the same time, so that the biological tissue is not injured. The embodiment of the application refers to the retraction distance of the medical instrument as the compensation distance, and the compensation distance can be more than or equal to the position variation of the end effector along the axial direction of the puncture outfit.

Since the change of the position of the power unit 222 with respect to the corresponding rail 221 can be performed by controlling the driving unit to drive the power unit 222 to slide on the rail 221 by the control device, the retraction compensation distance can also be performed by controlling the driving unit to drive the power unit 222 to slide on the rail 221 by the third instruction of the controller.

Optionally, the compensation distance is equal to the position variation of the end effector along the axial direction of the puncture outfit, and at the moment, the compensation distance can exactly offset the joint protrusion caused by extension, and meanwhile, the damage to organism tissues or the collision with adjacent medical instruments caused by the overlarge compensation distance to other joints which are not restored to a straightened state during retraction can be avoided.

The instruction set further includes a first instruction, and determining the instruction set includes:

acquiring a target joint variable of a first joint of the connecting assembly in a straightened state, and recording the target joint variable as theta ₁ 。

Acquiring a current joint variable of a first joint of the connecting component in a current state, and recording the current joint variable as theta ₂ 。

Optionally, the connection assembly includes in the straightened state that the joints in the first joint are in the straightened state;

the connection assembly is in the current state, namely, corresponds to the bending state at the beginning, and comprises joints in the first joints; in the embodiment of the application, the current state refers to the state before the movement instruction is received for movement. Through theta ₁ And theta ₂ The motion instructions corresponding to the first joint may be determined, including motion instructions indicating how each of the first joints moves, enabling a quick calculation of the straightening instructions for each joint.

In the straightened state, the axial direction of the joint is parallel to the axial direction of the puncture outfit and is also parallel to the axial direction of the connecting rod of the medical instrument. Wherein the parallel includes that the included angle between them is 0 degree, also includes that the included angle is in certain range of float angle, and the range of float angle can be according to the circumstances.

Optionally, if the first joint includes a plurality of joints to be straightened, the plurality of joints to be straightened are different in current positions and bending states, so that the joints need to be controlled respectively to recover to the straightened state, the first instruction may include straightening instructions corresponding to the plurality of joints, and determining the first instruction may include:

acquiring a target joint variable of a first joint in a straightened state of the joint in the first joint; acquiring a current joint variable of a first joint in a current state of the joint in the first joint;

and determining a straightening instruction corresponding to the joint according to the target joint variable and the current joint variable of the joint.

Alternatively, if the joints in the first joint are independently controlled to restore to the straightened state in a time-sharing manner, the straightening instructions corresponding to the joints can be independently determined. Because each joint straightens in a time sharing way, when one joint straightens, the other joints are unchanged.

The target joint variable and the current joint variable of each joint in the first joint can be obtained, or only the target joint variable and the current joint variable of the joint which is being controlled and is recovered from bending to a straightening state can be obtained; only the current joint variable and the target shutdown variable corresponding to the moving joint are different, and the current joint variable and the target shutdown variable corresponding to the non-moving joint are the same.

By way of example, where the first joint includes two joints A and B straightened in an A-then-B order, the straightening instructions for joints A and B, respectively, may be determined.

Determining the straightening instructions of the joint A comprises:

the method comprises the steps of obtaining a target joint variable of a joint in a first joint in a straightened state of a joint A, wherein a joint B does not move at the moment, so that the joint B is in a bending state, and the target joint variable of the joint B is the same as the current joint variable. At this time, only the target joint variable of the joint a may be obtained, or the target joint variables of the joint a and the joint B may be obtained, except that the current joint variable corresponding to the target joint variable of the joint B when it is bent is the same.

Acquiring the current joint variable of the joint in the first joint in the current state of the joint A, wherein the joint A is in the current state, and the joint B is not moved at the moment and is also in the current bending state. At this time, only the current joint variable of the joint a may be acquired, or the current joint variables of the joint a and the joint B may be acquired.

And determining a straightening instruction corresponding to the joint A according to the target joint variable and the current joint variable.

Joint a has recovered to straighten and joint B begins to move:

the target joint variable of the joint in the first joint in the straightened state of the joint B may be obtained, and at this time, only the target joint variable of the joint B may be obtained, or the target joint variables of a and B may be obtained.

The current joint variable of the joint in the first joint in the current state of the joint B may be obtained, and at this time, only the current joint variable of the joint B may be obtained, or the current joint variables of the joint a and the joint B may be obtained. Only the joint a has recovered to the straightened state, so the current joint variable of the joint a at this time takes the target joint variable corresponding to the straightened state.

And determining a straightening instruction corresponding to the joint B according to the target joint variable and the current joint variable.

Further, the instruction set may further include a straightening speed instruction for controlling the speed of straightening the first joint. The exemplary joint requires a change in angle of 10 ° for recovery from the current bend to straighten, and if the straightening is required to be completed within 10ms according to the selected exit strategy, the joint angle required to move every 1ms is 1 °.

The straightening instructions corresponding to the joints in the first joint may be generated simultaneously or separately, which is not limited in the embodiment of the present application.

The instruction set further includes a third instruction for commanding the medical instrument to retract a compensation distance along an axis of the penetrator, the compensation distance being for compensating for a change in position of the end effector along the axis of the penetrator caused by the first joint during extension, wherein determining the instruction set includes:

And acquiring the current joint variable and the instruction joint variable of the first joint at adjacent moments during the straightening period.

In order to realize that the first joint cannot extend forwards in the process of restoring to the straightening state, the embodiment of the application simultaneously controls the medical instrument to retract in the straightening process, and the compensation distance for controlling the retraction can offset the extending caused by straightening. The current joint variable corresponding to the previous moment of each two adjacent moments can be measured by a sensor, for example, the actual position and angle information.

The instruction joint variable refers to the joint variable corresponding to the first joint after passing through one adjacent moment or the next moment in the adjacent moment, and the instruction joint variable refers to the sum of the current joint variable and the incremental joint movement amount. For a revolute joint, the incremental joint motion amount may be an incremental joint angle; for a sliding joint, the incremental joint movement amount may be an incremental joint offset. It will be appreciated that only the joint that is in motion will have its joint variables changed, i.e. the commanded joint variable is different from the current joint variable, and that for joints that are not in motion, its joint variable will not change.

The unit duration, i.e. the time difference between adjacent moments, can be flexibly set according to the control requirement, for example, accurate control is required, the unit duration is set to be shorter, for example, 0.1ms, and if rough control is required, the unit duration is set to be longer, for example, 1ms. In the embodiment of the application, under the condition that the exit strategy is selected, the whole path can be predicted, the finishing time is determined according to the control requirement, the quantity of the incremental joint motion can be determined, the specific calculation process of the incremental joint variable is not limited, and the method can be realized by adopting any method in the prior art.

For example, if the angle at which the joint needs to change from the current bend to straighten is 10 ° and if the straightening is required to be completed within 10ms according to the selected exit strategy, and the length is 1ms, the angle at which movement is required every 1ms is 1 ° and the incremental joint movement amount corresponding to each 1ms can be determined during the entire process of returning to the straightened state.

The current position of the end effector is determined based on the current joint variable and the commanded position of the end effector is determined based on the commanded joint variable. The commanded position of the end effector at each adjacent moment during extension of the first joint is thus known.

Optionally, the current position of the end effector is determined from current joint variables of the first joint, e.g., the current position of the end effector is determined from current joint variables of all joints of the first joint; the current position of the end effector is determined based on the commanded joint variable of the first joint.

A compensation distance along the axial direction of the puncture instrument is determined at a desired moment of adjacency of the medical instrument based on the current position and the commanded position. According to the current positions corresponding to every two adjacent moments, the positions, corresponding to the end effector at the moment before every two adjacent moments, along the axial direction of the puncture outfit can be known; according to the instruction position corresponding to the next time of every two adjacent times, the position of the end effector corresponding to the next time of every two adjacent times along the axial direction of the puncture outfit can be known. Further, the compensation distance of the adjacent moment is determined according to the difference value delta Z between the position, corresponding to the previous moment, along the axial direction of the puncture outfit and the position, corresponding to the next moment, along the axial direction of the puncture outfit. The compensation distance of the optional adjacent time is larger than or equal to the difference delta Z.

When the joint is restored to the straightened state from the current state, the command joint variable corresponding to the command position at the final moment is the target command variable corresponding to the target position of the end effector.

The current position and commanded position of the end effector are obtained based on a specified point in the medical instrument. Optionally, the designated point is located at a distal region of the medical instrument, e.g., at the end effector head. In other embodiments, the designated point may be located in other areas of the medical device, such as in a central area of the medical device. Wherein the specified points may be one or more. The current position and the instruction position can be obtained in real time according to a preset rule.

Similarly, when the first joint includes a plurality of joints, the current positions and the bending states of the plurality of joints are different, so that the compensation distances of the corresponding adjacent moments are also different, and therefore, the compensation distances of the corresponding adjacent moments of each joint can be respectively determined, including:

according to the current joint variable and the command joint variable of the joint in the first joint at adjacent time during the straightening period, determining the current position and the command position of the end effector at the adjacent time, determining the position difference delta Z of the joint at the adjacent time along the axial direction of the puncture outfit according to the current position and the command position of the end effector, and then determining the compensation distance of the joint at the adjacent time according to the position difference delta Z, wherein the compensation distance of the optional adjacent time is larger than or equal to the difference delta Z. The implementation principle is the same as that described above, and will not be described again here.

A third instruction is generated based on the compensation distance.

Optionally, when the first joint includes a plurality of joints, the third instruction may include a corresponding retraction compensation distance instruction at a time adjacent to each joint in the first joint, and specifically, the retraction compensation distance instruction at a time adjacent to each joint is generated according to the compensation distance corresponding to each joint.

Optionally, when the first joint includes a plurality of joints, the third instruction may also correspond to one instruction, optionally, a sum of compensation distances between adjacent moments corresponding to the joints is calculated first, and then the third instruction is generated according to the sum of the compensation distances.

According to the embodiment of the application, the third instruction is determined according to the compensation distance at the adjacent moment, and the medical instrument is controlled to retract according to the third instruction, so that the first joint is controlled to extend and retract, the medical instrument cannot extend forwards when extending, and the medical instrument is prevented from damaging organism tissues when withdrawing.

The instruction set further includes a second instruction, determining the instruction set, comprising:

determining a first position difference value of the end effector according to the target position of the end effector and the target position of the puncture outfit, wherein the target position of the puncture outfit is positioned in a preset end surface range of the puncture outfit, and the target position of the end effector corresponds to the position corresponding to the end effector when each joint in the first joint is in a straightening state;

And determining a second position difference value according to the first position difference value and the compensation distance. Wherein if the first joint includes a plurality of joints, the compensation distance is a sum of compensation distances corresponding to the respective joints, the sum of the compensation distances is referred to as a total compensation distance in the embodiment of the present application.

Wherein determining the corresponding retraction compensation distance of each joint comprises:

acquiring current joint variables of the first joint in the current state, wherein the current joint variables in the first joint comprise current joint variables of all joints in the first joint.

Acquiring a target joint variable of a first joint in a straightening state of the joint in the first joint, wherein the target joint variable of the first joint comprises target joint variables of all joints, and the fact that only the joint which is being straightened takes the joint variable corresponding to the target position as the target joint variable, and other joints take the current joint variable as the target joint variable because of no movement;

a compensation distance is determined for axial retraction of the medical instrument along the penetrator that is expected to correspond to the first joint based on the current position and the target position.

And determining a position difference delta Z of the end effector corresponding to each joint in the first joint in the current state and the straightening state along the axial direction of the puncture outfit according to the current position and the target position of each joint, and then determining the compensation distance corresponding to each joint in the first joint according to the position difference delta Z.

Illustratively, the first joint comprises two joints A and B straightened in an A-then-B order, and the offset distances of joints A and B are determined, respectively.

Determining the compensation distance of joint a comprises:

acquiring current joint variables of the joint A and the joint B in the current state of the joint A.

The method comprises the steps of obtaining target joint variables of a joint A and a joint B in a straightened state, wherein the joint A takes the joint variable corresponding to a target position as the target joint variable, and the joint B does not move, so that the corresponding joint variable does not change, and the current joint variable is taken as the target joint variable.

Determining a current position of the end effector based on current joint variables of joint a and joint B, and determining a target position of the end effector based on target joint variables of joint a and joint B;

a compensation distance for axial retraction of the medical instrument along the penetrator is determined that is expected to correspond to joint A based on the current position and the target position.

Determining the compensation distance of joint B, comprising:

the current joint variable of the joint A and the joint B in the current state of the joint B is obtained, and the joint A is straightened at the moment, so that the target joint variable is used as the current joint variable by the joint A.

And acquiring target joint variables of the joint A and the joint B in the straightened state of the joint B, wherein the joint A and the joint B are restored to be straightened at the moment, so that the corresponding joint A and the corresponding joint B take the target joint variables as target joint variables.

a compensation distance along the axial direction of the puncture instrument is determined in which the medical instrument is expected to correspond to the joint B based on the current position and the target position. And further calculating the sum of the compensation distances corresponding to the joints in the first joint, so that the total compensation distance can be determined.

According to the embodiment of the application, the compensation distance corresponding to each joint is determined according to the straightening process of each joint, so that the retraction of each joint can be flexibly controlled.

Optionally, determining the total compensation distance may include:

acquiring current joint variables of a first joint of the connection assembly in a current state, for example, acquiring current joint variables of all joints of the first joint;

Acquiring a target joint variable of a first joint of the connection assembly in the straightened state, for example, acquiring target joint variables of all joints of the first joint;

the total compensation distance for which the medical instrument is expected to retract in the axial direction of the puncture instrument is determined based on the current position and the target position, for example, a position difference Δz in the axial direction of the puncture instrument is determined based on the current position and the target position, and then the total compensation distance is determined based on the position difference Δz.

Further, the second position difference value is taken as a target distance;

a second instruction is generated based on the target distance.

It will be appreciated that the second instruction may be combined with the third instruction to form a single instruction, where the corresponding exit distance is the difference Δz between the target position of the end effector and the target position of the puncture outfit along the axial direction of the puncture outfit.

Further, the instruction set may also include a retraction speed instruction for controlling the speed at which the medical instrument is retracted, such that the time required to complete retraction may be controlled, which may cause the medical instrument to complete retraction according to a desired retraction strategy.

Step S201, controlling the first joints to straighten one by one according to a configuration sequence according to a first instruction; in response to the straightening of the first joint, the medical instrument is controlled to retract a compensation distance according to a third instruction so that the position of the end effector along the axial direction of the penetrator is not substantially changed.

Optionally, controlling the joint straightening in the first joint according to the first instruction; and controlling the medical instrument retraction compensation distance in response to the straightening of the joint in accordance with the third command such that the position of the end effector along the axial direction of the penetrator is substantially unchanged. The substantial position change includes no change in the position of the end effector in the axial direction of the penetrator after the control joint has been straightened and retracted, and if there is some change in the position of the end effector in the axial direction of the penetrator, such changes are within acceptable tolerances, may be considered to be substantially unchanged. Furthermore, if the position of the end effector in the axial direction of the penetrator does not increase distally, but decreases proximally, it may also be considered that the position does not change.

The sequence of configuration may be from the joint at the distal end to the joint at the proximal end, and specifically includes:

according to the first instruction, the extension of the far-end joint in the first joint is controlled, and specifically, the extension instruction corresponding to the far-end joint in the first instruction can be used for controlling the extension of the far-end joint in the first joint.

In response to the extension of the distal-most joint, the medical instrument is controlled to retract a compensation distance according to a third command such that the position of the end effector along the axis of the penetrator is not substantially changed or increased. Specifically, the retraction compensation distance command corresponding to the far-end joint in the first command can be used for controlling the far-end joint to retract by the compensation distance corresponding to the joint. As shown in the schematic view of the state of a surgical robot in the embodiment of fig. 6, fig. 6a is a current state of bending the first joint, fig. 6b is a state that the joint at the most distal end is straightened, if the joint at the most distal end is not withdrawn by the compensation distance, the end effector is extended forward, and fig. 6c is a state that the joint at the most distal end is straightened, and the joint at the most distal end is withdrawn by the compensation distance L1, so that the position of the end effector along the axial direction of the puncture outfit is kept unchanged basically.

The joint adjacent to the most distal joint is updated to the most distal joint. If the first joint has only one joint, then the process ends. If the first joint includes a plurality of joints, return to continue to execute control of the extension of the distal-most joint of the first joints according to the first instruction until all joints of the first joint have completed extension and retraction by the compensation distance. As shown in the schematic state of the surgical robot in fig. 7, the distal-most joint is straightened in fig. 7a, the joint adjacent to the distal-most joint is bent, fig. 7b shows that the end effector is extended forward if the joint adjacent to the distal-most joint is straightened and exits the compensation distance if the joint adjacent to the distal-most joint is straightened, and fig. 7c shows that the position of the end effector along the axial direction of the puncture instrument is kept substantially unchanged if the joint adjacent to the distal-most joint is straightened and exits the compensation distance L2.

And S202, controlling the medical instrument to retract to the target distance along the axial direction of the puncture outfit according to the second instruction.

As shown in a schematic state diagram of a surgical robot in the embodiment of the present application in fig. 8, the first joint in fig. 8a is restored to an extended state, and fig. 8b is a target distance for retraction of the medical instrument.

Similarly, since the change in the position of the power unit 222 relative to the corresponding rail 221 can be performed by the control device controlling the driving unit to drive the power unit 222 to slide on the rail 221, the retraction target distance can also be performed by the control device controlling the driving unit, for example, the motor to drive the power unit 222 to slide on the rail 221.

Optionally, the instruction set further includes a zeroing instruction, where the zeroing instruction is used to return the motor in the power mechanism 22 that controls the pose, opening and closing of the end effector to a zero position after completing the control of extension and retraction, and return the motor that controls the power unit 222 to a zero position when sliding on the guide rail 221, so as to facilitate the installation of the next instrument.

According to the embodiment of the application, the medical instrument is retracted along the axial direction of the puncture outfit while the first joint is straightened, so that the medical instrument cannot extend forwards when being withdrawn, thereby avoiding injury to organism tissues and improving safety.

In another embodiment of the present application, the instruction set includes a third instruction that instructs the medical instrument to retract the compensation distance along the axial direction of the puncture instrument when the first joint includes a plurality of joints, and the third instruction may include a plurality of retract compensation distance instructions that control the respective joint retract compensation distances; when the first joint includes a plurality of joints, the third instruction may also correspond to one instruction.

If the third instruction includes a plurality of retraction compensation distance instructions that control respective joint retraction compensation distances, determining the instruction set includes:

Acquiring a target joint variable of a first joint in a straightening state of the joint in the first joint, wherein the target joint variable of the first joint comprises target joint variables of all joints, and the fact that only the joint which is being straightened takes the joint variable corresponding to the target position as the target joint variable, and other joints take the current joint variable as the target joint variable is needed;

A compensation distance is determined for axial retraction of the medical instrument along the penetrator that is expected to correspond to the joint based on the current position and the target position. For example, the position difference deltaz of the end effector in the axial direction of the puncture instrument in the current state and in the straightened state of the respective joints of the connecting assembly is determined according to the current position and the target position, and then the compensation distance of the respective joints in the first joint is determined according to the position difference deltaz.

A corresponding retract compensation distance command is generated based on the compensation distances of the respective joints. If the third instruction corresponds to one instruction, the sum of the compensation distances corresponding to the joints in the first joint can be further calculated, the total compensation distance is determined according to the sum of the compensation distances, and the third instruction is determined according to the total compensation distance.

Alternatively, determining the total compensation distance includes:

The third instruction is further determined based on the total compensation distance.

In order to determine the third instruction, the embodiment of the present application calculates the compensation distance, and the specific implementation principle is the same as that of the foregoing calculation of the compensation distance when determining the second instruction, which is not described herein again.

Further, the instruction set further includes a seventh instruction, according to which the power portion 222 is controlled to slide on the guide rail 221 to achieve retraction of the medical instrument. Specifically, the power portion 222 may be controlled to slide on the guide rail 221 at a constant speed, so as to control the retraction of each joint in the first joint to be completed synchronously in the process of completing the extension. Wherein the speed of retraction is determined based on the time required for the first joint to straighten and the distance of compensation. The time required for straightening the first joint can be set according to the requirement.

It is to be understood that the seventh instruction may be a separate instruction or may be combined with the third instruction, which is not specifically limited in the embodiment of the present application.

In the embodiment of the application, the compensation distance or the total compensation distance is determined when the third instruction is determined, so that the total compensation distance can be calculated continuously according to the calculated compensation distance or obtained when the second instruction is determined, thereby reducing the total calculation amount of the system.

Further, calculating a second position difference between the first position difference and the total compensation distance;

taking the second position difference value as a target distance;

a second instruction is generated based on the target distance.

In another embodiment of the present application, there is provided an instrument ejection method of a surgical robot, the surgical robot including: the puncture outfit is used for being connected with a living body; a medical device comprising a connection assembly including a first joint, the connection assembly being inserted into the living being through the penetrator; a controller coupled with the medical instrument and configured to:

in response to a request to exit the medical instrument, an instruction set is determined, the instruction set including a first instruction, a second instruction, and a third instruction.

And controlling the extension of the far-end joint in the first joint according to the first instruction, wherein in the extension state of the far-end joint, the axial direction of the far-end joint is parallel to the axial direction of the nearest near-end joint, and the near-end joint refers to the joint closer to the incision.

And controlling the medical instrument to retract to a target distance along the axial direction of the puncture outfit according to the second instruction so as to straighten the connecting assembly and retract to the target position of the puncture outfit.

Wherein determining the first instruction comprises:

acquiring a target joint variable of a joint in a first joint in a straightening state, wherein the axial direction of the joint in the straightening state is parallel to the axial direction of the nearest proximal joint;

acquiring a current joint variable of a joint in a first joint in a current state;

Wherein determining the third instruction comprises:

acquiring a current joint variable of a joint in a first joint in a current state, wherein the current joint variable in the first joint comprises current joint variables of all joints in the first joint;

obtaining a target joint variable of the joint in the first joint in a straightening state, wherein optionally, the target joint variable in the first joint comprises target joint variables of all joints, and it is noted that only the joint in straightening takes the joint variable corresponding to the target position as the target joint variable, and other joints take the current joint variable as the target joint variable;

a third instruction for the joint is generated based on the compensation distance.

In the embodiment of the present application, the straightened state is that the joint axis is parallel to the proximal joint axis nearest to the joint axis, wherein the parallel includes that the included angle between the joint axis and the proximal joint axis is 0 degrees, and also includes that the included angle is within a certain floating angle range, and the floating angle range can be determined according to the situation, and the specific calculation compensation distance, the first instruction, the second instruction, and the third instruction are the same as those in the previous embodiment, and are not repeated herein.

According to the embodiment of the application, the medical instrument is retracted along the axial direction of the puncture outfit while the first joint straightens according to the sequence of configuration, so that the medical instrument cannot extend forwards when being withdrawn, thereby avoiding damage to organism tissues and improving safety.

In another embodiment of the present application, when a plurality of medical instruments are included and the plurality of medical instruments need to be withdrawn, determining a withdrawal order of the plurality of medical instruments is required before withdrawing each medical instrument, including:

If none of the exit paths of the medical instrument intersects with the exit paths of the other medical instruments, the exit may be safe, such medical instrument corresponding to the first exit order set.

If the exit path of the medical instrument is intersected with the exit paths of other medical instruments, the collision exists in the exit according to the selected exit strategy, so that the exit strategy can be selected to be replaced for further judgment, or the medical instrument can be rotated by a preset angle for further judgment. Alternatively, a medical device having a small number of intersections of rotation with the exit paths of other medical devices may be preferentially selected, or a plurality of medical devices having intersections may be simultaneously rotated. As shown in the schematic state diagram of a surgical robot in the embodiment of the present application in fig. 9, the exit paths of two medical instruments intersect. Fig. 10 is a schematic view showing a state of a surgical robot according to an embodiment of the present application, in which the exit paths of two medical instruments do not intersect after rotating the left medical instrument.

If the medical instrument has no intersection with the exit paths of other medical instruments after rotation and re-judgment, the corresponding medical instrument can be updated to the first exit sequence set. If the intersection still exists, the rotation is continued to be adjusted until the intersection does not exist. The rotation angles of the medical instruments can be flexibly set each time, and can be the same or different. It will be appreciated that after spinning, some points of intersection may be eliminated, but new points of intersection may also be created, and therefore require constant adjustment until the exit path of the medical instrument from the other medical instrument is free of points of intersection.

The medical instruments in the first exit sequence set may exit safely, the sequence is not required, and optionally, the medical instruments exit according to a preset sequence, for example: and sequentially withdrawing the medical instruments corresponding to the first withdrawing sequence set according to the sequence that the end effector of the medical instrument is away from the end face of the puncture outfit from near to far.

Wherein the number of medical instruments to be withdrawn is equal to or less than the number of all medical instruments.

According to the embodiment of the application, the plurality of medical instruments can not collide with each other when being withdrawn by controlling the withdrawal process of the plurality of medical instruments, so that living tissues are prevented from being injured, and the safety is improved.

In another embodiment of the application, the medical device further comprises an end effector, the type of medical device comprises a type of end effector, the type of end effector comprises a type of executable opening and closing action or a type of energy device, and the controller is configured to:

before the first joints are controlled to straighten one by one according to the first instruction and the medical instrument is controlled to retract along the axial direction of the puncture outfit by a target distance according to the second instruction, the end effector is controlled to open according to the fourth instruction after the end effector is identified as the type capable of executing opening and closing actions.

After the doctor finishes the operation and before withdrawing the medical instrument, if the end effector of the medical instrument has the function of executing the opening and closing action, the end effector is preferably opened, so that unnecessary injury caused by the fact that the end effector mistakenly clamps the biological tissue in the retracting process of the medical instrument is avoided. Of course, after a certain distance of retraction, it can also be closed.

Further, it is preferable to close the end effector before the medical device is withdrawn from the penetrator to avoid damaging the device upon withdrawal from the penetrator, including:

the instruction set further includes fifth instructions for commanding the end effector to close;

after the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract a target distance along the axial direction of the puncture outfit according to the second instruction, the end effector is controlled to be closed according to the fifth instruction.

According to the embodiment of the application, the end effector is opened before the medical instrument is withdrawn, so that the end effector is prevented from mis-clamping biological tissues in the process of withdrawing the medical instrument; after the medical device is retracted a certain distance, especially before the medical device exits the penetrator, the end effector is closed to avoid damaging the device.

Alternatively, the end effector may be of the type of an energy instrument, such as an electric knife, ultrasonic knife, stapler, or the like. Where the end effector is an energy device, the energy source of the energy device may optionally be shut off before the medical device exits the penetrator to avoid possible mishandling during exit from injuring the living being.

before the first joints are controlled to straighten one by one according to the first instruction and the medical instrument is controlled to retract along the axial direction of the puncture outfit by a target distance according to the second instruction, the end effector is controlled to cut off the energy source according to the sixth instruction after the type of the end effector is identified as the type of the energy instrument.

Embodiments of the present application reduce unnecessary injuries caused during the withdrawal of a medical instrument by controlling the withdrawal of the medical instrument according to the type of medical instrument, particularly the type of end effector.

In another embodiment of the application, the first joint is further retracted after returning to the straightened state by a compensation distance that compensates for a change in position of the end effector along the axis of the penetrator caused by the first joint during straightening. For example, from the distal joint to the proximal joint in the first joint, after the distal joint is straightened and retracted by the compensation distance, the adjacent joints are straightened and retracted by the compensation distance until each of the first joints is straightened and retracted by the compensation distance. The motion of the medical instrument can be reduced to hurt organism tissues and the control is convenient by sequentially straightening and retracting the compensation distance from the joint at the far end to the joint at the near end in the first joint.

Or, from the distal joint to the proximal joint in the first joint, the distal joint is retracted by the compensation distance and straightened, and then the adjacent joint is retracted by the compensation distance and straightened until each joint in the first joint is retracted by the compensation distance and straightened. By sequentially retracting the compensation distance and straightening the joints from the distal joint to the proximal joint in the first joint, the compensation distance can be retracted first and then straightened, so that the damage to organism tissues caused by straightening can be avoided, and the control is convenient, and the method specifically comprises the following steps:

optionally, acquiring a target joint variable of the first joint of the connecting assembly in the straightened state;

Optionally, acquiring a current joint variable of the first joint of the connection assembly in the current state;

a compensation distance for the desired axial retraction of the medical instrument along the penetrator is determined based on the current position and the target position of the end effector.

A third instruction is generated based on the compensation distance.

Optionally, determining a first position difference of the end effector along the axial direction of the puncture outfit based on the target position of the end effector and the target position of the puncture outfit;

taking the second position difference value as a target distance;

a second instruction is generated based on the target distance.

In the embodiment of the present application, the difference from the previous embodiment is that retraction is performed first and then straightening is performed, but the specific calculation compensation distance, the first instruction, the second instruction, and the third instruction are the same as the original in the previous embodiment, and are not repeated here.

Or the joints of the first joint are straightened and then retracted by the compensation distance, but a plurality of joints are straightened and then retracted by the compensation distance at the same time, so that the withdrawal time can be reduced, and the withdrawal efficiency of the medical instrument can be improved.

Or the joints of the first joint retract by the compensation distance and then straighten, but the plurality of joints retract by the compensation distance and then straighten at the same time, so that the withdrawing time can be reduced, and the withdrawing efficiency of the medical instrument can be improved.

Or the partial joints of the first joint retract by the compensation distance and then straighten, the partial joints straighten and then retract by the compensation distance, and the partial joints straighten and retract by the compensation distance simultaneously.

It can be seen that the movement modes of the first joint include a plurality of choices, and the embodiment of the present application does not limit which movement mode is specifically selected for each joint in the first joint, and should be included in the scope of protection of the present application, and the embodiment of the present application does not exemplify all possible combinations.

It should be noted that, within the technical scope of the present disclosure, other ordering schemes that can be easily considered by those skilled in the art should also be within the scope of the present disclosure, and are not described in detail herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional units or modules according to needs, i.e. the internal structure of the mobile terminal is divided into different functional units or modules to perform all or part of the above-described functions. The functional modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the module in the mobile terminal may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiments of the present application also provide a computer readable storage medium storing a computer program, which when executed by a processor implements steps of the above-described respective method embodiments.

Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that enable the implementation of the method embodiments described above.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a condition or event is determined" or "if a condition or event is detected" may be interpreted in the context to mean "upon determination" or "in response to determination" or "upon detection of a condition or event, or" in response to detection of a condition or event.

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. A surgical robot, the surgical robot comprising: the puncture outfit is used for being connected with a living body; a medical device comprising a connection assembly including a first joint, the connection assembly being inserted into a living being through the penetrator, the medical device further comprising:

a controller coupled with the medical instrument and configured to:

And controlling the first joints to straighten one by one according to the configuration sequence according to the first instruction, and controlling the medical instrument to retract the target distance along the axial direction of the puncture outfit according to the second instruction so as to straighten the connecting assembly and retract the connecting assembly to the target position of the puncture outfit.

2. The surgical robot of claim 1, wherein controlling the first joints to straighten one by one in the order of configuration comprises:

3. The surgical robot of claim 1, wherein an end effector is coupled to the distal end of the coupling assembly, the set of instructions further comprising third instructions for commanding the medical instrument to retract a compensation distance along the axis of the penetrator for compensating for a change in position of the end effector along the axis of the penetrator caused by the first joint during extension;

the controlling the first joints to straighten one by one according to the configuration sequence according to the first instruction comprises the following steps:

In response to the straightening of the joint, the medical instrument is controlled to retract the compensation distance according to a third instruction so that the position of the end effector along the axial direction of the penetrator is not substantially changed.

4. A surgical robot as claimed in claim 3, wherein said controlling the first joints to straighten one by one in a configured sequence in accordance with the first instructions comprises:

controlling the medical instrument to retract the compensation distance according to a third instruction in response to the straightening of the distal-most joint so that the position of the end effector in the axial direction of the penetrator is not substantially changed;

5. The surgical robot of claim 3, wherein the set of determination instructions comprises:

determining a compensation distance over which retraction of the medical instrument in an axial direction of the penetrator is desired based on the current position and the commanded position;

generating the third instruction based on the compensation distance;

or alternatively, the process may be performed,

determining a compensation distance over which the medical instrument is expected to retract axially along the penetrator based on the current position and target position of the end effector;

the third instruction is generated based on the compensation distance.

6. The surgical robot of any one of claims 1 to 5, wherein the determining an instruction set comprises:

acquiring a target joint variable of the first joint when the connecting assembly is in a straightening state;

acquiring a current joint variable of the first joint of the connecting assembly in a current state;

7. The surgical robot of claim 1, wherein an end effector is connected to the distal end of the connection assembly, the number of medical instruments being 2 or more, the controller configured to:

Judging whether an intersection exists between the exit paths according to the exit paths;

8. The surgical robot of claim 1, wherein the medical instrument further comprises an end effector, the type of medical instrument comprising a type of the end effector, the type of end effector comprising a type of an executable opening and closing action, the controller configured to:

the set of instructions further includes fourth instructions for commanding the end effector to open;

before the first joints are controlled to straighten one by one according to the configuration sequence according to the first instruction, and the medical instrument is controlled to retract the target distance along the axial direction of the puncture outfit according to the second instruction, when the type of the end effector is identified as the type capable of executing opening and closing actions, the end effector is controlled to open according to the fourth instruction.

9. The surgical robot of claim 1, wherein the medical instrument further comprises an end effector, the type of medical instrument comprising a type of the end effector, the type of end effector comprising a type of energy instrument, the controller configured to:

the instruction set further includes a sixth instruction for commanding the end effector to shut off an energy source;

before the first joints are controlled to straighten one by one according to the first instruction and the medical instrument is controlled to retract the target distance along the axial direction of the puncture outfit according to the second instruction, the end effector is controlled to cut off energy sources according to a sixth instruction when the type of the end effector is identified as the type of the energy instrument.

10. A computer readable storage medium, wherein the computer readable storage medium stores a computer program configured to be loaded and executed by a processor to implement the steps of: