CN116983089A

CN116983089A - Surgical robot, control device and control method thereof

Info

Publication number: CN116983089A
Application number: CN202310832549.6A
Authority: CN
Inventors: 高元倩; 叶国强; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2023-11-03
Also published as: CN111714208B; CN111714208A

Abstract

The present disclosure relates to a surgical robot comprising a slave manipulator having a plurality of wheels and a plurality of feet at a bottom of the slave manipulator, the feet being configured to be telescopic and support force adjustable, the wheels being configured to provide movement and auxiliary support, and a control device coupled to the feet, at least part of the feet being configured as controlled feet, the control device being configured to: obtaining the projection point of the total mass of the slave operation equipment and the total mass center thereof on a supporting reference plane; obtaining a first positional relationship of each of the controlled feet in the support datum plane with the proxel; obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass; controlling each controlled leg to extend towards the support surface and generating a support force matching the corresponding target support force value. The disclosure also relates to a control device and a control method of the surgical robot. The surgical robot can strengthen the support stability.

Description

Surgical robot, control device and control method thereof

The application is a divisional application filed by the China patent office at 6 and 30 days of the application date 2020, with the application number 202010616822.8 and the application name "surgical robot and control device and control method", which are incorporated herein by reference in their entirety.

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to a surgical robot, a control device and a control method thereof.

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 robotic techniques are becoming mature and widely used. Minimally invasive robots generally include a master console including a handle and a slave manipulator including a robotic arm and an manipulator disposed at a distal end of the robotic arm, the manipulator having a distal instrument that moves with the handle in a working state to effect tele-surgical manipulation, the doctor sending control commands to the slave manipulator via the handle.

When the slave manipulator is used for a surgical operation, the position of the center of mass of the slave manipulator is easily changed due to the change in the position of the manipulator and/or the manipulator, and when the support force for supporting the slave manipulator is insufficient, the base of the slave manipulator in contact with the ground may be slightly rocked. The shaking phenomenon is transmitted by the mechanical arm and/or the operation arm, so that more obvious shaking such as tool shaking and image shaking can occur at the tail end instrument, and the reliable implementation of the operation is further affected.

Disclosure of Invention

Accordingly, it is necessary to provide a surgical robot, a control device therefor, and a control method therefor, which can enhance the support stability.

The present disclosure provides a surgical robot comprising a slave manipulator having a plurality of legs at a bottom of the slave manipulator, the legs being configured to be telescopic and adjustable in support force, and a control device coupled to the legs, at least part of the legs being configured as controlled legs, the control device being configured to: obtaining the projection point of the total mass of the slave operation equipment and the total mass center thereof on a supporting reference plane; obtaining a first positional relationship of each of the controlled feet in the support datum plane with the proxel; obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass; controlling each controlled leg to extend towards the support surface and generating a support force matching the corresponding target support force value.

Wherein the slave manipulator has a plurality of articulated arms, the articulated arms at the proximal end being provided with the feet, the articulated arms at the distal end being used for providing the manipulator with a distal instrument, each of the articulated arms being provided with a position sensor coupled to the control device, the step of obtaining the projected point of the total mass of the slave manipulator and its total centroid on a support datum plane comprising: acquiring the sub-mass of each joint arm and the space position of the sub-mass center of the sub-mass in a connecting rod coordinate system of the corresponding joint arm; acquiring joint positions of the corresponding joint arms in a reference coordinate system, wherein the joint positions are detected by each position sensor; summing the sub-masses of the articulated arms to obtain a total mass of the slave operating device; combining the partial centroid space positions of the partial centroids of the joint arms in the corresponding connecting rod coordinate systems and the corresponding joint positions to obtain the partial centroid space positions of the partial centroids of the corresponding joint arms in the reference coordinate systems through positive kinematics; combining the sub-mass of each joint arm and the sub-mass center space position of the sub-mass center in a reference coordinate system, and obtaining the total mass center space position of the total mass center of the slave operation equipment in the reference coordinate system by a multi-body mass center solving method; and converting the total centroid space position of the total centroid in the reference coordinate system into the projection point on the supporting datum.

Wherein the number of the joint arms at the far end is one, and the joint arms at the far end are used for detachably arranging more than one operation arm; alternatively, the number of the joint arms at the distal ends is more than two, and each of the joint arms at the distal ends is used for detachably arranging one of the operation arms.

Wherein the slave operation device has an angle detection element, and the control means is coupled with the angle detection element, and after the step of obtaining the total centroid spatial position of the total centroid of the slave operation device in the reference coordinate system, the method comprises: acquiring an inclination angle of the support surface detected by the angle detection element; and updating the total centroid space position of the total centroid of the slave operation device in a reference coordinate system according to the inclination angle.

Wherein the tilt angle includes a first tilt angle of the support datum plane between the first orthogonal direction and the horizontal plane, and a second tilt angle between the second orthogonal direction and the horizontal plane.

The power mechanism comprises more than one guide rail and a power part which is arranged on the corresponding guide rail in a sliding way, wherein the power part is used for detachably arranging the operation arms and driving the operation arms, and the step of acquiring the sub-mass of each joint arm and the sub-mass center space position of the sub-mass center of the sub-mass in a connecting rod coordinate system of the corresponding joint arm comprises the following steps: acquiring the sub-mass of each joint arm except the power mechanism and the sub-mass center space position of the sub-mass center of each joint arm in a corresponding connecting rod coordinate system from a database; acquiring the sub-mass of the power mechanism and the space position of the sub-mass center of the sub-mass in a connecting rod coordinate system according to the installation state information and the position state information in the power mechanism; the installation state information relates to the installation state of the operation arm on each power part, the position state information relates to the position state of each power part relative to the corresponding guide rail, and the installation state information comprises information whether the operation arm is arranged on each power part and/or type information of the operation arm arranged on each power part.

The step of acquiring the sub-mass of the power mechanism and the sub-mass center space position of the sub-mass center in a connecting rod coordinate system of the power mechanism according to the installation state information and the position state information inside the power mechanism comprises the following steps: acquiring the installation state information inside the power mechanism detected by the identification element and the position state information inside the power mechanism detected by the position sensor; invoking a matched one of a plurality of pre-constructed parameter calculation models according to the installation state information in the power mechanism; wherein, each parameter calculation model is respectively related to the sub-mass corresponding to different position states and the sub-mass spatial position of the sub-mass in the corresponding connecting rod coordinate system under one installation state of the power mechanism; and obtaining the sub-mass of the power mechanism and the sub-mass center space position of the sub-mass center in a corresponding connecting rod coordinate system according to the called parameter calculation model and the position state information in the power mechanism.

Wherein the slave manipulator device bottom further has a plurality of wheels configured to provide movement and auxiliary support, each wheel being provided with a pressure sensor coupled to the control means, the step of obtaining a projected point of the total mass of the slave manipulator device and its total centroid on a support datum plane comprising: acquiring pressure values detected by the pressure sensors; acquiring the total mass of the slave operation equipment; obtaining the fulcrum position of each wheel on a supporting reference surface; and constructing moment balance equations in two orthogonal directions in a supporting reference plane by combining the pressure values, the total mass and the fulcrum positions to obtain the projection point.

Wherein the step of obtaining a target support force value expected to be generated for each of the controlled feet from the first positional relationship and the total mass comprises: obtaining a first proportional value of the sum of the target support force values expected to be generated by each of the controlled feet relative to the gravity of the slave operating device; and combining the first proportion value, the first position relation and the total mass to obtain a target supporting force value expected to be generated by each controlled support leg.

Wherein the slave manipulator further comprises a plurality of wheels configured to provide movement and auxiliary support, each wheel being provided with a pressure sensor coupled to the control means, the step of obtaining a target support force value that each of the controlled feet is expected to produce in combination with the first ratio value, the first positional relationship and the total mass comprising: acquiring pressure values detected by the pressure sensors; detecting whether a floating wheel is present in the wheel according to whether the pressure value is less than a pressure threshold value; determining the controlled leg nearest to the float wheel according to the position of the float wheel and each controlled leg on a supporting reference surface, and obtaining an incremental supporting force value expected to be generated corresponding to the controlled leg nearest to the float wheel; updating the current target support force value of the controlled foot most adjacent to the floating wheel to be the sum of the target support force value and the incremental support force value corresponding to the previous time of the controlled foot.

Wherein the step of obtaining an incremental support force value expected to be generated for the controlled foot nearest the flywheel comprises: obtaining a second ratio of the sum of passive support forces expected to be generated by each wheel relative to the gravity of the slave operating device, wherein the sum of the first ratio and the second ratio is 1; obtaining a second positional relationship of each of said wheels and said projection point in a support datum; obtaining a passive supporting force value expected to be generated by each wheel by combining the second proportion value, the second position relation and the total mass; and obtaining the increment supporting force value according to the passive supporting force value corresponding to the floating wheel and the third position relation between the floating wheel and the controlled support leg nearest to the floating wheel in the supporting reference plane.

Wherein the step of obtaining a target supporting force value expected to be generated by each controlled leg according to the first positional relationship and the total mass specifically comprises: and under a constraint condition, constructing a moment balance equation of two orthogonal directions in a supporting reference plane according to the first position relation and the total mass so as to obtain a target supporting force value expected to be generated by each controlled supporting leg, wherein the constraint condition comprises that the target supporting force value expected to be generated by each controlled supporting leg does not exceed a supporting force threshold value which can be generated by the controlled supporting leg.

Wherein after the step of obtaining a target supporting force value expected to be generated for each of the controlled legs based on the first positional relationship and the total mass, the step of obtaining a target supporting force value expected to be generated for each of the controlled legs comprises: detecting whether the target supporting force value exceeding a supporting force threshold value exists; if so, setting the target supporting force value of the controlled leg exceeding the supporting force threshold as the supporting force threshold, and recovering the target supporting force value of the rest controlled legs based on the supporting force threshold of the controlled leg exceeding the supporting force threshold and combining the first position relation and the total mass, and repeating the steps until all the target supporting force values do not exceed the supporting force threshold.

The controlled support leg comprises a lifting part and a driving part coupled with the lifting part, the driving part is coupled with the control device, and the driving part drives the lifting part to stretch and retract and adjusts the supporting force of the lifting part under the control of the control device.

The step of controlling each controlled support leg to extend towards a supporting surface and generating a supporting force matched with the corresponding target supporting force value comprises the following steps of: detecting whether each driving part simultaneously reaches the corresponding target supporting force value; if so, stopping the action of each driving part and controlling the action of each braking part to keep the current supporting position and supporting force value of each controlled support leg.

Wherein the control device is configured to: acquiring the position of each supporting leg on a supporting reference surface; and constructing a convex polygon based on the positions, and configuring the support leg associated with the position corresponding to the largest constructed convex polygon as the controlled support leg.

The present disclosure also provides a control apparatus for a surgical robot, the surgical robot comprising a slave operating device having a plurality of wheels and a plurality of feet at a bottom of the slave operating device, the feet configured to be telescopic and support force adjustable, the wheels configured to provide movement and auxiliary support, the control apparatus coupled with the feet, at least a portion of the feet configured to be controlled feet, the control apparatus configured to: obtaining the projection point of the total mass of the slave operation equipment and the total mass center thereof on a supporting reference plane; obtaining a first positional relationship of each of the controlled feet in the support datum plane with the proxel; obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass; controlling each controlled leg to extend towards the support surface and generating a support force matching the corresponding target support force value.

The present disclosure also provides a control method of a surgical robot including a slave operating device having a plurality of legs at a bottom thereof, the legs being configured to be telescopic and supporting force adjustable, at least a part of the legs being configured as controlled legs, the control method comprising the steps of: obtaining the projection point of the total mass of the slave operation equipment and the total mass center thereof on a supporting reference plane; obtaining a first positional relationship of each of the controlled feet in the support datum plane with the proxel; obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass; controlling each controlled leg to extend towards the support surface and generating a support force matching the corresponding target support force value.

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 the control method according to any one of the embodiments described above.

The surgical robot and the control device thereof have the following beneficial effects:

the target supporting force value expected to be generated by each controlled support leg is determined according to the total mass of the slave operation equipment, the projection point of the total mass center on the supporting reference plane and the position relation between each controlled support leg and the projection point, so that each controlled support leg is controlled to extend to the supporting plane and is controlled to generate the corresponding target supporting force value, the slave operation equipment can be actively supported, and the supporting stability of the slave operation equipment is further enhanced.

Drawings

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

FIG. 2 is a partial schematic view of the surgical robot shown in FIG. 1;

FIG. 3 is a partial schematic view of the surgical robot shown in FIG. 1;

FIG. 4 is a partial schematic view of a chassis of the slave manipulator of the surgical robot of FIG. 1;

FIG. 5 is a schematic view of the articulation principle of the slave manipulator of the surgical robot of FIG. 1;

FIG. 6 is a flow chart of an embodiment of a method of controlling the surgical robot of FIG. 1;

FIGS. 7 (a) - (f) are schematic views showing the layout of an embodiment of chassis legs in a slave manipulator of the surgical robot shown in FIG. 1, respectively;

FIG. 8 is a flow chart of an embodiment of a method of controlling the surgical robot of FIG. 1;

FIG. 9 is a schematic view of an embodiment of a chassis from the operating device of the surgical robot shown in FIG. 1;

FIG. 10 is a flow chart of an embodiment of a method of controlling the surgical robot of FIG. 1;

FIGS. 11 (a) - (d) are schematic views of the surgical robot of FIG. 1 in different mounting and positioning states of the power mechanism in the slave operating device;

FIGS. 12-17 are flowcharts of one embodiment of a method for controlling the surgical robot of FIG. 1, respectively;

FIG. 18 is a schematic view of a control device of the surgical robot shown in FIG. 1;

FIG. 19 is a schematic view of another embodiment of a slave manipulator in the surgical robot of the present disclosure;

FIG. 20 is a partial schematic view of the surgical robot shown in FIG. 19;

fig. 21 is a flowchart of an embodiment of a control method of the surgical robot shown in fig. 19.

Detailed Description

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 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.

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 description of the disclosure herein 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 herein includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 4 are schematic structural views and partial schematic views of an embodiment of a surgical robot according to the present disclosure.

The surgical robot includes a master console 2 and a slave operating device 3. The main console 2 has a handle 21 and a display 22, and the doctor transmits a control command to the slave operating device 3 through the handle 21 to cause the slave operating device 3 to perform a corresponding operation according to the control command of the doctor operating the handle 21, and observe the operation area through the display 22, wherein the handle 21 can freely move and rotate to allow the doctor to have a large operation space, for example, the handle 21 is connected to the main console 2 through a wire. The slave operation device 3 has a plurality of joint arms 301 to 306, the proximal joint arm 301 has a plurality of auxiliary supporting portions 200 and a plurality of legs 300 at the bottom, and the distal joint arm 306 is for detachably setting the operation arm 31. In one embodiment, the proximal articulating arm 301 is a base and the distal articulating arm 306 is a power mechanism. In some embodiments, these auxiliary supports 200 provide only auxiliary support, which may also be configured as wheels providing auxiliary support on the one hand and providing and moving on the other hand. In some embodiments, the feet 300 are configured to be telescopically adjustable and support force adjustable, with the telescopically adjustable finger support height being electrically controllable and the support force adjustable finger support force being electrically controllable. The operation arm 31 comprises a connecting rod 32, a connecting component 33 and a tail end instrument 34 which are sequentially connected, wherein the connecting component 33 is provided with a plurality of joint components, and the operation arm 31 adjusts the posture of the tail end instrument 34 by adjusting the joint components; the end instrument 34 has an image end instrument 34A and an operation end instrument 34B. In other embodiments, the handle 21 may be connected to the main console 2 by a rotating link.

The surgical robot includes a control device configured to couple with foot 300, articulated arms 301-306, and the like to receive, process, and send related instructions. The articulated arms are provided with position sensors for detecting the joint angles of the articulated arms, and the coupling between the control device and these articulated arms can be regarded as a coupling with at least these position sensors.

In an embodiment, the control means may be integrated in the master console 2 or in the slave operating device 3, which control means are taken into account if they are integrated in one or more of the articulated arms of the slave operating device 3.

In an embodiment, the control device may also be set independently of the master console 2 and the slave operating device 3, and the control device may be deployed locally or at the cloud.

In one embodiment, the control device may be comprised of more than one controller, such as one, two, or more.

The leg 300 may be provided in more than one. The legs 300 may be generally arranged in a non-linear arrangement of three or more. For example, the legs 300 may be provided in three. For another example, the number of legs may be four, five, and more, however, when the number of legs 300 is four or more, redundancy may occur, and some redundancy may not only increase hardware costs, but may also cause adverse effects such as a reduction in the range of effective fields to be later and thus a limitation of the total centroid movement range from the operating device more. Thus, at least some of the aforementioned plurality of feet 300 may be configured as controlled feet by the control device to avoid these adverse effects. The controlled leg is an enabled leg; the redundant legs are disabled legs, which can be understood as uncontrolled legs.

In some embodiments, the controlled foot may be manually configured by an operator, i.e., at least a portion of foot 300 is selected as the controlled foot by the operator. For example, a hardware switch or a software switch may be provided to enable at least a portion of leg 300 to act as a controlled leg.

In some embodiments, the controlled foot may be automatically configured by the control device, i.e., at least a portion of foot 300 is automatically enabled as the controlled foot according to a selection strategy. For example, referring to fig. 6, the control device is configured to perform the steps of the control method as follows:

and step S10, acquiring the position of each foot on the supporting reference surface.

Step S20, constructing a convex polygon based on the positions, and configuring the leg associated with the position corresponding to the largest one of the convex polygons as the controlled leg.

The execution of step S10 and step S20 enables the intelligent selection of the controlled foot, in particular by configuring the foot associated with the largest one of the convex polygons constructed as the controlled foot, which contributes to maximizing the range of the effective field to be described later, the support for the slave operating device being relatively stable and not toppling when the projection point of the centroid of the slave operating device projected on the support reference plane falls within the effective field, so that obtaining a larger effective field is beneficial for the movement of the robotic arm and/or the operating arm of the slave operating device, which can allow a larger range of variation from the centroid position of the operating device, and can reduce the limitation of the movement range of the robotic arm and/or the operating arm. For example, the range of the largest convex polygon may generally completely correspond to the range of the effective domain, and the largest convex polygon may be completely overlapped with the effective domain by, for example, a perspective method, so that the effective domain is conveniently defined.

For example, as shown in fig. 7 (a), when the number of legs 300 is three: the three legs together form the largest convex polygon, and thus are each configured as a controlled leg 300a.

For example, as shown in fig. 7 (b) and 7 (c), when the number of legs 300 is four: in fig. 7 (b), the largest convex polygon is collectively constituted by the three legs of the outer race, so the three legs of the outer race are configured as controlled legs 300a; whereas in fig. 7 (c), the four legs together form the largest convex polygon, and thus are each configured as a controlled leg 300a.

For example, as shown in fig. 7 (d) to 7 (f), when the number of legs 300 is five or more: in fig. 7 (d), the largest convex polygon is constituted by the four legs of the outer ring together, so the four legs of the outer ring are configured as the controlled legs 300a; in fig. 7 (e), the largest convex polygon is collectively constituted by the six legs of the outer race, so the six legs of the outer race are configured as the controlled legs 300a; in fig. 7 (f), the largest convex polygon is constituted by the four legs of the outer ring together, and thus the four legs of the outer ring are configured as the controlled legs 300a.

In fig. 7 (c), 7 (d) and 7 (f), in the case of non-redundancy and redundancy, the case where the controlled leg 300a is arranged is the same on the premise that the maximum convex polygon can be constructed. The present application will be described with reference to the case shown in fig. 7 (c) by way of example.

In other embodiments, whether the controlled leg is provided manually or automatically, at least three legs may be arbitrarily selected as the controlled leg without necessarily assuming that a maximum convex polygon can be constructed, which corresponds exactly to the effective area that it is possible to form with the location of the selected controlled leg. For example, taking fig. 7 (f) as an example, only three legs of the inner ring may be configured as the controlled leg 300b, and the effective domain thereof is mapped by the three controlled legs 300 b.

In one embodiment, referring to fig. 8, the control device is configured to perform the steps of:

step S1, obtaining a projection point of the total mass of the slave operation device and the total mass center thereof on the supporting reference plane.

The support datum plane may be understood as a plane of the base 301. The support datum plane is a plane formed by orthogonal X-and Y-axes, for example, viewed from the reference coordinate system of the operating device 2. The projection direction of the total mass center projected to the supporting reference plane is always the vertical direction, but not the Z-axis direction of the supporting reference plane.

The projected point is a point that is mapped to point coordinates in the support datum.

Step S2, obtaining a first position relation between each controlled support leg and the projection point in the supporting reference plane.

And S3, obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass.

The step can be implemented by constructing moment balance equations in two orthogonal directions of the supporting reference plane to obtain each target supporting force value. The target supporting force value is usually a value not less than 0.

The moment balance equation is related to four parameters of gravity of the slave operating device, the position of each controlled foot on the supporting reference surface, and supporting force of a projection point and a fulcrum (comprising the controlled foot and/or the wheel) of the slave operating device on the supporting reference surface, and the rest one parameter can be solved according to any known three parameters. For example, the supporting force of the fulcrum can be solved from the gravity of the operating device, the position of the controlled foot on the supporting reference surface, and the projected point of the operating device on the supporting reference surface. In this step, the fulcrum is the controlled foot, so that the active supporting force expected to be generated by each control can be solved.

And S4, controlling each controlled support leg to extend towards the supporting surface and generating supporting force matched with the corresponding target supporting force value.

The support surface is the one carrying the surgical robot, e.g. the support surface is the ground. After the position of the projection point on the supporting reference surface is determined, the position of the projection point on the supporting reference surface can be kept unchanged while stable supporting is realized by controlling each controlled support leg to extend towards the supporting surface and generating supporting force matched with a corresponding target supporting force value.

In some embodiments, the auxiliary support may be provided by at least some of the wheels in an initial state, with active support by the controlled feet being re-used for adjustment.

As in the embodiment of a chassis base structure illustrated in fig. 9, the chassis 301 includes four wheels 200 and four feet 300 configured as controlled feet 300a as they can form a maximum convex polygon as in fig. 7 (c). Step S4 mainly controls the extension and retraction of the four controlled legs 300a and controls the supporting force of the four controlled legs 300a.

In some embodiments, referring to fig. 10, step S1, that is, the step of obtaining the projected point of the total mass and the total centroid of the operating device on the support reference plane, includes:

step S11, the first partial mass center space position of the partial mass center of each joint arm in the connecting rod coordinate system of the corresponding joint arm is obtained.

The partial mass and the partial centroid of the articulated arm can generally be derived from the link parameters of the articulated arm, which have been taken into account from the beginning of the design of the operating device.

Step S12, acquiring joint positions of all the joint arms in a reference coordinate system.

The joint position being obtained from sensors provided in each arm, e.g. These sensors may be encoders of servo motors driving the movement of the articulated arms. In the embodiment shown in fig. 1 and 5, 5 degrees of freedom are formed in common from all the joint arms 301 to 306 of the operation device 3, and the position information (d 1, θ) of such a set of the joint arms other than the base 301 can be acquired by the sensors ₂ ，θ ₃ ，θ ₄ ，θ ₅ )。

The reference coordinate system may be defined as a base coordinate system of the slave operating device.

Step S13, the sub-mass of each joint arm is summed to obtain the total mass of the slave operation device.

Step S14, the first sub-centroid space position of each joint arm is combined with the corresponding joint position to obtain the second sub-centroid space position of the corresponding joint arm in the reference coordinate system.

The second centroid space position may generally be obtained by positive kinematics.

And S15, combining the partial mass of each joint arm and the spatial position of the second partial mass, and obtaining the spatial position of the total mass center in the reference coordinate system by a multi-body mass center solving method.

Step S16, converting the total centroid space position of the total centroid in the reference coordinate system into a projection point on the supporting datum plane.

The slave manipulator shown in fig. 1 and 5 includes six articulated arms (including a base). Assuming the mass of the base is m ₀ The rest 5 joint arms form an actual controllable mechanical arm, and the mass of the joint arms forming the mechanical arm is m respectively _i (i=1, 2,3,4, 5), the link coordinate system { J of the articulated arm i _i Rotation transformation matrix of { B } relative to reference coordinate systemAnd position coordinates->Centroid of joint arm i relative to link coordinate system { J of joint arm i _i Local coordinates ∈>The position coordinate p of the centroid of the articulated arm i relative to the reference coordinate system { B }, therefore _i The method comprises the following steps:

according to the multi-body centroid solving method, the total centroid space position of the slave operation device in the reference coordinate system { B } is as follows:

in some embodiments, referring to FIG. 11, the power mechanism 306 includes a housing 3061, one or more rails 3062 disposed within the housing 3061, and a power portion 3063 slidably disposed on the respective rails 3062, the power portion 3063 being configured to removably dispose the operating arm 31 and to drive the operating arm 31. The change in the internal state of the power mechanism 306 causes a change in the load, which in turn causes a change in the centroid position from the operation device 3, which the inventors of the present disclosure desire to eliminate.

Further, the step S11, that is, the step of acquiring the sub-mass of each joint arm and the first sub-mass spatial position of the sub-mass of each joint arm in the link coordinate system of the corresponding joint arm, includes the following two steps:

The partial mass of each non-distal joint arm and its first partial mass spatial location are obtained from a database. That is, the mass of each joint arm except the power mechanism and the centroid space position of the centroid thereof in the link coordinate system of the corresponding joint arm itself are obtained.

And acquiring the partial mass of the joint arm at the far end and the first partial mass center space position of the partial mass according to the installation state information and the position state information of the interior of the joint arm at the far end. That is, the mass of the power mechanism and the mass center space position of the mass center of the power mechanism in the connecting rod coordinate system of the power mechanism are obtained according to the installation state information and the position state information in the power mechanism.

Wherein the installation status information relates to the installation status of the operating arm 31 on each power unit 3063, and the position status information relates to the position status of each power unit 3063 with respect to the corresponding guide rail 3062. The installation state information includes information on whether or not the operation arm 31 is provided on each power unit 3063, and/or information on the type of the operation arm 31 provided on each power unit 3063. Since these changes in the position and installation state generally change the mass and centroid position of the distal joint arm (i.e., the power mechanism) 306, the mass and centroid position of the distal joint arm can be accurately obtained in real time through the above-described step S112.

Illustratively, in FIG. 11 (a), no operating arm is provided on each power section 3063; in fig. 11 (b), an operating arm 31 is provided on a power section 3063; in fig. 11 (b), one operation arm 31 is provided on each of the four power units 3063, and the four power units 3063 are identical in position with respect to the corresponding guide rail 3062; one operation arm 31 is also provided on each of the four power units 3063 in fig. 11 (d), but the position state of one power unit with respect to the corresponding rail is different from the position state of the other power units with respect to the corresponding rail. Fig. 11 assumes a case where the type of the operation arm provided on the power section does not affect the change in the centroid, which can basically reflect different state changes inside the power mechanism. In fact, the type of operating arm provided on the power section also affects the centroid variation to different extents.

With continued reference to fig. 1 and 5, the articulated arms may be divided into proximal articulated arms (i=0, i.e., base), intermediate articulated arms (i=1, 2,3, 4), and distal articulated arms (i.e., power mechanism). Still assume that the mass of the base is m ₀ The mass of the middle joint arm is m respectively _i (i=1, 2,3, 4), assuming that the mass of the power mechanism can be obtained according to the above steps as m _d And can obtain the position coordinate of the power mechanism in the reference coordinate system { B }, asAccording to the multi-body centroid solving method, the total centroid space position of the slave operation device in the reference coordinate system { B } is as follows:

in some embodiments, the operating arm 31 has a storage element (not shown) storing information of the type of the operating arm, each power section is provided with an identification element (not shown) coupled to the control device and to the storage unit, and the guide rail or the power section is provided with a position sensor (not shown) coupled to the control device. Referring to fig. 12, the step of obtaining the sub-mass of the distal joint arm and the first sub-mass center spatial position thereof according to the installation state information and the position state information of the interior of the distal joint arm includes:

in step S1121, the mounting state information of the inside of the distal joint arm detected by the identification element and the positional state information of the inside of the distal joint arm detected by the position sensor are acquired.

The partial mass of the distal articulated arm includes the mass of the body and the mass of the actuating arm arranged thereon, wherein the partial mass of the actuating arm can likewise be detected by the detection unit as a function of the type of actuating arm.

In step S1122, a matched one of the pre-constructed parameter calculation models is called according to the installation state information inside the distal joint arm.

The parameter calculation models are respectively related to the sub-masses and the first sub-mass center space positions thereof corresponding to different position states under one installation state of the far-end joint arm.

Step S1123, obtaining the component mass of the distal joint arm and the first component mass center spatial position thereof according to the invoked parameter calculation model and the position state information inside the distal joint arm.

In some embodiments, the slave operating device 3 also has an angle detection element (not shown), which may be provided, for example, on the chassis or on the articulated arm, with which the control means are coupled. Referring to fig. 13, step S15, after the step of obtaining the total centroid space position of the total centroid in the reference coordinate system, includes:

step S151, the inclination angle of the support surface detected by the angle detecting element is acquired.

Step S152, updating the total centroid space position of the total centroid of the slave operation device in the reference coordinate system according to the tilt angle.

Through the above-described step S151 and step S152, the total centroid space position of the slave operation device can be accurately acquired when the support reference plane is inclined with respect to the support plane such as the ground.

Wherein the inclination angle obtained in step S151 generally includes a first inclination angle of the support reference plane between the first orthogonal direction and the horizontal plane, and a second inclination angle between the second orthogonal direction and the horizontal plane. The first inclination angle and the second inclination angle enable determination of the attitude of the support reference surface.

In some embodiments, the projected point from the total centroid of the operating device on the support datum may also be obtained in other ways. For example, pressure sensors (not shown) coupled to the control device may be provided on each wheel of the chassis. Referring to fig. 14, the step S1, that is, the step of obtaining the projected point of the total centroid of the operating device on the support reference plane, includes:

step S11', the pressure values detected by the pressure sensors are acquired.

Step S12' acquires the total mass of the slave operation device.

The total mass of the slave operating device can also be obtained by obtaining the partial mass of each joint arm and summing; alternatively, the components of the pressure values detected by the pressure sensors in the vertical direction are summed.

Step S13' obtains the fulcrum positions of the respective controlled feet on the support reference surface.

And S14', constructing moment balance equations in two orthogonal directions in the supporting reference plane by combining the pressure values, the total mass and the fulcrum positions to obtain projection points.

The moment balance equation involved in step S14' is expressed as:

∑Fx＝0 (4)

∑Fy＝0 (5)

∑Mx＝0 (6)

∑My＝0 (7)

wherein, assuming that the x-axis direction of the support reference plane is defined as a first orthogonal direction and the y-axis direction is defined as a second orthogonal direction, Σfx is the resultant force of the support force and gravity force received from the operation device in the first orthogonal direction of the support reference plane; Σfy is the resultant force of the supporting force and the gravity force received from the operating device in the second orthogonal direction of the supporting reference plane; Σmx is a resultant moment of the supporting force and the gravity force received from the operating apparatus in the first orthogonal direction of the supporting reference plane with respect to the target position; Σmy is the resultant moment of the supporting force and the gravity force received from the operation device with respect to the target position in the second orthogonal direction of the supporting reference plane.

In step S14', knowing the gravity of the slave operating device, the position of the controlled foot on the support reference surface, and the supporting forces (i.e., pressure values) of the respective fulcrums, the projected points of the slave operating device on the support reference surface can be solved.

In some embodiments, the passive support force is provided by the wheel 200 and the active support force is provided by the controlled foot 300a from the operating device to support in common. Referring to fig. 15, the step S3, that is, the step of obtaining the desired target supporting force value of each controlled leg according to the first positional relationship and the total mass, includes:

step S31, a first proportion of the sum of the active supporting forces generated by the controlled feet relative to the gravity of the operating equipment is obtained, and the value range of the first proportion is between 0 and 1.

The first ratio may be freely defined by the operator, and may be any value between [0,1], such as 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1. The first ratio may also be set by default by the system profile.

Step S32, the target supporting force value expected to be generated by each controlled support leg is obtained by combining the first proportion, the first position relation and the total mass.

In some embodiments, with continued reference to fig. 15, after step S3, that is, the step of obtaining the desired target supporting force value of each controlled leg according to the first positional relationship and the total mass, the method includes:

Step S33, detecting whether there is a target supporting force value exceeding the supporting force threshold value.

If so, go to step S34; otherwise, step S4 is entered.

And step S34, setting the target supporting force value of the controlled support legs exceeding the supporting force threshold as the supporting force threshold, and recovering the target supporting force value of the rest controlled support legs based on the supporting force threshold of the controlled support legs exceeding the supporting force threshold and combining the first position relation and the total mass.

And repeating the step S33 and the step S34 until all target supporting force values do not exceed the supporting force threshold value.

In some embodiments, referring to fig. 16, step S32, that is, after the step of obtaining the target supporting force value expected to be generated by each controlled leg by combining the first scale value, the first positional relationship and the total mass, includes:

in step S321, the pressure values detected by the pressure sensors are acquired.

In step S322, whether the wheels are floating is detected according to whether the pressure value is smaller than the pressure threshold.

The floating wheel refers to a wheel with zero stress or stress less than a pressure threshold, for example, suspended wheels belong to the floating wheel.

In step S322, if there is a floating wheel, the process proceeds to step S323; otherwise, the process proceeds to step S4.

Step S323, determining the controlled support leg nearest to the floating wheel according to the positions of the floating wheel and each controlled support leg on the supporting reference surface, and obtaining the expected incremental supporting force value corresponding to the controlled support leg nearest to the floating wheel.

In step S324, the current target supporting force value of the controlled leg nearest to the floating wheel is updated to be the sum of the target supporting force value obtained at the previous time of the corresponding controlled leg and the incremental supporting force value.

In this step S324, the target support force value of the remaining controlled foot remains unchanged, i.e. generally no update is required.

After step S324, step S4 is also entered.

In some embodiments, referring to fig. 17, in step S323, that is, the step of obtaining the incremental supporting force value expected to be generated corresponding to the controlled foot nearest to the floating wheel, includes:

step S3231, obtaining a second ratio value of the sum of the passive supporting forces expected to be generated by the wheels with respect to the gravity of the slave operating device.

The sum of the first ratio and the second ratio is 1.

Step S3232, obtaining a second positional relationship between each wheel and the projection point in the supporting reference plane.

Step S3233, combining the second ratio value, the second positional relationship, and the total mass to obtain a passive supporting force value expected to be generated by the corresponding wheel.

Step S3234, obtaining an increment supporting force value according to the passive supporting force value corresponding to the floating wheel and the third position relation of the floating wheel and the controlled support leg nearest to the floating wheel in the supporting reference plane.

In some embodiments, each controlled leg in the above embodiments includes a lifting portion and a driving portion coupled to the lifting portion, and the driving portion is coupled to the control device, and the driving portion drives the lifting portion to stretch and retract and adjusts the supporting force of the lifting portion under the control of the control device. For example, the lifting part can be realized by a screw pair or a rack and pinion or a hydraulic cylinder or a pneumatic cylinder; the driving part adopts a motor, the supporting height is adjusted through the forward rotation and reverse rotation angle of the motor, and the supporting force is adjusted through the torque of the motor; the lifting part is a hydraulic cylinder or a pneumatic cylinder, the driving part adopts an electromagnetic valve, and the supporting height and the supporting force are adjusted through the control of the electromagnetic valve on the flow; for another example, the lifting unit and the driving unit may be realized by a linear motor.

Further, each controlled leg further comprises a brake portion coupled to the lifting portion or the driving portion, and the brake portion is coupled to the control device, the brake portion being for locking the driving portion or the lifting portion, for example, the brake portion may be implemented as a band brake. The step S4, that is, the step of controlling each controlled leg to extend toward the supporting surface and generate a supporting force matching the corresponding target supporting force value, includes:

And detecting whether the driving parts of the controlled support legs reach corresponding target supporting force values at the same time.

If so, stopping the action of the driving part of each controlled support leg, and controlling the action of the braking part of each controlled support leg to keep the current supporting position and the current supporting force value of each controlled support leg.

The active support force adjustment of the controlled feet in the above embodiments is typically a one-time adjustment as needed before each use of the slave operating device, in an embodiment the controlled feet may typically be retracted away from the support surface, e.g. back to the origin of the controlled feet, before the next adjustment of the support force of the controlled feet. In some embodiments, the slave manipulator may also be dynamically adjusted in real time during use to accommodate dynamic changes in the overall centroid position of the slave manipulator during use, in one embodiment each of the controlled feet is dynamically changed directly without collapsing away from the support surface, e.g. back to the origin of the controlled foot, in embodiments where the support force is adjusted in real time, typically with assistance, i.e. passive support, provided by the wheels.

In some embodiments, as shown in fig. 18, the control device 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 505 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 invention, or a graphics processor GPU (Graphics Processing Unit). The one or more processors included in the control device 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 may be particularly useful for causing the processor 501 to: obtaining a projection point of the total mass of the slave operation device and the total mass center thereof on a supporting reference plane; obtaining a first positional relationship between each controlled leg and the projection point in the support datum plane; obtaining a target supporting force value expected to be generated by each controlled support leg according to the first position relation and the total mass; controlling each controlled leg to extend towards the support surface and generating a support force matching the corresponding target support force value.

Fig. 19 and 20 disclose a schematic structural view of a slave operating device of another embodiment of the surgical robot of the present disclosure. The slave operating device 3' differs from the slave operating device 3 shown in fig. 1 in terms of configuration, in brief:

the slave manipulator 3' has a plurality of joint arms 301' to 315' and is configured by a plurality of joint arms, for example, the first arm is formed by the joint arms 301' to 305' being sequentially connected in series, and the plurality of second arm is formed by the joint arms 306' to 315' being sequentially connected in series, in order to facilitate understanding of the first arm which is artificially divided into a proximal one-stage serial configuration and a distal two-stage parallel configuration.

The proximal joint arm 301 'of the first arm body is provided with a plurality of wheels and legs, and as can be seen in connection with fig. 4, the proximal joint arm 301' of the slave operation device may be configured as the proximal joint arm 301 of the slave operation device 3, which will not be described again here. The distal joint arm 315' of the second arm body is used to detachably provide the operation arm 31' having the distal end instrument, the operation arm 31' of the slave operation device 3' of this configuration has substantially the same structure as the operation arm 31 of the slave operation device 3, the operation arm 31' includes the link 32', the connection assembly 33', and the distal end instrument 34' connected in this order, and the distal end instrument 34' includes the image distal end instrument 34A ' and the operation distal end instrument 34B '. The proximal articulated arm 301 'of the first arm body is a base, and the distal articulated arm 315' of the second arm body can also be considered as a power mechanism, such a power mechanism typically having a rail and a power portion slidably disposed on the rail, wherein the power portion is configured to removably dispose the operating arm.

Thus, the embodiments shown in fig. 1 to 18 can be well adapted to the surgical robot shown in fig. 19 to 20, so as to achieve adjustment of the supporting force from the operating device 3' and thus to enhance the supporting stability thereof.

For example, the total mass of the slave operation device 3' and the projection point of the total mass center thereof on the support reference plane may be obtained in the same manner as the slave operation device 3, for example, by a multi-body mass center solving method or by constructing a moment balance equation according to parameters such as a pressure value. Reference may be made to the above embodiments, and the description thereof will not be repeated here.

In other embodiments, the multi-centroid solution method may also be used and further steps may be used to obtain the total mass from the operating device 3' and its projected point of the total centroid on the support datum, as in fig. 21, which may include, for example:

step S11', the sub-mass of each joint arm and the sub-mass center space position of the sub-mass center of each joint arm in the connecting rod coordinate system of the corresponding joint arm are obtained.

Step S12', the joint positions of the corresponding joint arms in the reference coordinate system detected by the position sensors are acquired.

Step S13', summing the partial masses of the respective articulated arms to obtain a total mass of the slave operating device.

Step S14", the partial centroid space position of the partial centroid of each joint arm in the reference coordinate system is obtained through positive kinematics by combining the partial centroid space position of the partial centroid of each joint arm in the corresponding connecting rod coordinate system and the corresponding joint position.

And step S15', combining the sub-mass of each joint arm in the corresponding second arm body and the sub-mass center space position of the sub-mass center of each joint arm in the reference coordinate system, and obtaining the sub-mass center space position of the sub-mass center of a corresponding second arm body in the reference coordinate system through a multi-body mass center solving method.

And S16', combining the sub-mass of each second arm body and the sub-mass center space position of the sub-mass center in the reference coordinate system, and obtaining the sub-mass center space position of the total sub-mass center of all second arm bodies in the reference coordinate system through a multi-body mass center solving method.

Step S17', the total mass center space position of the total mass center of the slave operation equipment in the reference coordinate system is obtained through a multi-body mass center solving method by combining the mass center of each joint arm in the first arm body and the mass center space position of the mass center of each joint arm in the reference coordinate system, and the total mass center of all the second arm bodies and the total mass center of each joint arm in the reference coordinate system.

Step S18', converting the total centroid space position of the total centroid in the reference coordinate system into a projection point on the support datum.

The surgical robot, the control device and the control method thereof have the following beneficial effects:

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:

from the operating device, the bottom has a plurality of retractable and support force adjustable feet, including controlled feet; a kind of electronic device with high-pressure air-conditioning system

A control device coupled with the leg and configured to:

obtaining a projection point of the total centroid of the slave operation device on a supporting reference plane;

obtaining a first positional relationship of each of the controlled feet in the support datum plane with the proxel;

obtaining the total mass of the slave operation device, and obtaining a target supporting force value expected to be generated by each controlled foot according to the first position relation and the total mass;

controlling each controlled leg to extend towards the supporting surface and generating a supporting force matched with the corresponding target supporting force value so as to realize stable supporting and simultaneously maintain the position of the projection point on the supporting reference surface.

2. The surgical robot of claim 1, wherein the leg includes a lifting portion and a driving portion coupled to the lifting portion, and the driving portion is coupled to the control device, the driving portion drives the lifting portion to expand and contract and adjust a supporting force of the lifting portion under control of the control device, the leg further includes a braking portion coupled to the lifting portion or the driving portion, the braking portion is further coupled to the lifting portion or the driving portion, for locking the driving portion or the lifting portion, and the step of controlling each of the controlled legs to generate a supporting force protruding toward a supporting surface and generating a supporting force matching the corresponding target supporting force value includes:

Detecting whether each driving part simultaneously reaches the corresponding target supporting force value;

if so, stopping the action of each driving part and controlling the action of each braking part to keep the current supporting position and supporting force value of each controlled support leg.

3. A surgical robot as claimed in claim 1, wherein the slave manipulator has a plurality of articulated arms, the articulated arms at the proximal end being provided with the feet, the articulated arms at the distal end being provided with manipulator arms having end instruments, each of the articulated arms being provided with a position sensor coupled to the control means, the step of obtaining the projected point of the total mass of the slave manipulator and its total centroid on a support datum plane comprising:

acquiring the sub-mass of each joint arm and the space position of the sub-mass center of the sub-mass in a connecting rod coordinate system of the corresponding joint arm;

acquiring joint positions of the corresponding joint arms in a reference coordinate system, wherein the joint positions are detected by each position sensor;

summing the sub-masses of the articulated arms to obtain a total mass of the slave operating device;

combining the partial centroid space positions of the partial centroids of the joint arms in the corresponding connecting rod coordinate systems and the corresponding joint positions to obtain the partial centroid space positions of the partial centroids of the corresponding joint arms in the reference coordinate systems through positive kinematics;

Combining the sub-mass of each joint arm and the sub-mass center space position of the sub-mass center in a reference coordinate system, and obtaining the total mass center space position of the total mass center of the slave operation equipment in the reference coordinate system by a multi-body mass center solving method;

and converting the total centroid space position of the total centroid in the reference coordinate system into the projection point on the supporting datum.

4. A surgical robot as claimed in claim 3, wherein the slave manipulator has an angle detection element, the control means being coupled to the angle detection element, and after the step of obtaining a total centroid spatial position of the total centroid of the slave manipulator in a reference frame, comprising:

acquiring an inclination angle of the support surface detected by the angle detection element;

and updating the total centroid space position of the total centroid of the slave operation device in a reference coordinate system according to the inclination angle.

5. A surgical robot as claimed in claim 1, wherein the slave manipulator further comprises a plurality of wheels at the bottom of the manipulator, the wheels being configured to provide movement and auxiliary support, each wheel being provided with a pressure sensor coupled to the control means, the step of obtaining a projected point of the total mass of the slave manipulator and its total centre of mass on a support datum comprising:

Acquiring pressure values detected by the pressure sensors;

acquiring the total mass of the slave operation equipment;

obtaining the fulcrum position of each wheel on a supporting reference surface;

and constructing moment balance equations in two orthogonal directions in a supporting reference plane by combining the pressure values, the total mass and the fulcrum positions to obtain the projection point.

6. The surgical robot of claim 1, wherein the step of obtaining a target support force value that each of the controlled legs is expected to produce based on the first positional relationship and the total mass comprises:

obtaining a first proportional value of the sum of the target support force values expected to be generated by each of the controlled feet relative to the gravity of the slave operating device;

and combining the first proportion value, the first position relation and the total mass to obtain a target supporting force value expected to be generated by each controlled support leg.

7. The surgical robot of claim 1, wherein after the step of obtaining a target support force value that each of the controlled legs is expected to produce based on the first positional relationship and the total mass, comprising:

detecting whether the target supporting force value exceeding a supporting force threshold value exists;

If so, setting the target supporting force value of the controlled leg exceeding the supporting force threshold as the supporting force threshold, and recovering the target supporting force value of the rest controlled legs based on the supporting force threshold of the controlled leg exceeding the supporting force threshold and combining the first position relation and the total mass, and repeating the steps until all the target supporting force values do not exceed the supporting force threshold.

8. The surgical robot of claim 1, wherein the control device is configured to:

acquiring the position of each supporting leg on a supporting reference surface;

and constructing a convex polygon based on the positions, and configuring the support leg associated with the position corresponding to the largest constructed convex polygon as the controlled support leg.

9. A control device for a surgical robot, the surgical robot comprising a slave manipulator having a plurality of telescoping and support force adjustable feet at a bottom of the slave manipulator, the control device coupled to the feet, the feet comprising controlled feet, the control device configured to:

10. A control method of a surgical robot, the surgical robot including a slave operating device having a plurality of legs with adjustable telescopic and supporting forces at a bottom thereof, the legs including controlled legs, the control method comprising the steps of: