CN117357256A - Surgical robot and posture registration method and control method thereof - Google Patents

Surgical robot and posture registration method and control method thereof Download PDF

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Publication number
CN117357256A
CN117357256A CN202210769952.4A CN202210769952A CN117357256A CN 117357256 A CN117357256 A CN 117357256A CN 202210769952 A CN202210769952 A CN 202210769952A CN 117357256 A CN117357256 A CN 117357256A
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surgical
joint
surgical robot
movement
freedom
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闫昱晟
高元倩
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Shenzhen Edge Medical Co Ltd
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Shenzhen Edge Medical Co Ltd
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Priority to CN202210769952.4A priority Critical patent/CN117357256A/en
Priority to PCT/CN2023/099414 priority patent/WO2024001725A1/en
Publication of CN117357256A publication Critical patent/CN117357256A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/104—Adaptations for table mobility, e.g. arrangement of wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The present application relates to a posture registration method of a surgical robot, the surgical robot comprising a driving arm with a plurality of joints, a puncture device being mounted at the distal end of the driving arm, the puncture device being for insertion into a body opening of a patient lying on a table top of a surgical bed, the method comprising: controlling a first joint of the plurality of joints to be in a zero force state; in response to translational movement of the table top of the operating table in the translational degree of freedom, acquiring a first position of the puncturing device at a first time and a second position at a second time during passive execution of the movement of the first joint that tracks the body opening in the translational degree of freedom; based on the first position and the second position, a pose registration relationship between the surgical robot and the surgical bed is determined. According to the method and the device, the gesture registration relation between the surgical robot and the operating table can be determined based on the position change of the puncture device in the process of passively executing the movement of tracking the body opening in the translational degree of freedom by the driving arm, so that a basis is provided for the control of the surgical robot.

Description

Surgical robot and posture registration method and control method thereof
Technical Field
The application relates to the technical field of medical machinery, in particular to a surgical robot, a posture registration method 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 surgical robot technology is gradually mature and widely applied. Minimally invasive surgical robots typically include a master console including a handle through which a physician sends control commands to a slave operating device including a drive arm and a lancing device mounted at a distal end of the drive arm for insertion into a body opening of a patient lying on a table top of a surgical bed to provide a passageway for the passage of medical instruments.
In the course of assisted surgery using surgical robots, doctors often desire that the operating table be able to move a certain distance or rotate a certain angle, thereby adjusting the posture of the patient during surgery in order to improve or optimize the field of view and the operating space of the patient's surgical site during the surgical procedure. However, the movement of the operating table can cause the movement of the body opening of the patient, and generally the operation robot cannot actively control the puncture device to follow the movement of the body opening based on the movement information of the operating table, so that the operation of the operation robot is complicated and time-consuming in the process of adjusting the operating table, and even the operation robot can cause injury to the patient, thereby increasing the uncertainty risk in the operation process.
Disclosure of Invention
Aiming at the technical problems, the application provides the surgical robot, the gesture registration method and the control method thereof, which can determine the gesture registration relation between the surgical robot and the operating table based on the position change of the puncture device in the process of passively executing the movement of tracking the body opening in the translational degree of freedom by the driving arm, thereby providing a basis for the control of the surgical robot.
To solve the above technical problem, the present application provides a posture registration method of a surgical robot, the surgical robot including a driving arm having a plurality of joints, a puncture device being mounted at a distal end of the driving arm, the puncture device being for insertion into a body opening of a patient lying on a table top of an operating table, the method comprising:
controlling a first joint of the plurality of joints to be in a zero force state, the first joint comprising a joint having a translational degree of freedom to allow the drive arm through the first joint to track movement of the body opening in the translational degree of freedom based on a force applied by a body wall of the body opening of the patient;
in response to translational movement of the table top of the surgical table in a translational degree of freedom, acquiring a first position of the lancing device at a first time and acquiring a second position of the lancing device at a second time adjacent to the first time during passive execution of tracking movement of the body opening in the translational degree of freedom by the first joint;
A first pose registration relationship between the surgical robot and the surgical bed is determined based on the first position and the second position.
In one embodiment, the method further comprises:
acquiring a third position of the puncturing device at a third time adjacent to the second time during passive execution of the tracking motion of the body opening in the translational degree of freedom by the first joint;
determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position;
and when the first posture registration relation and the second posture registration relation meet a preset condition, determining a third posture registration relation between the surgical robot and the surgical bed based on one or more of the first posture registration relation and the second posture registration relation.
In one embodiment, the translational movement includes at least one of a translational movement that commands the table top of the surgical table to move in a translational degree of freedom, and a translational movement that commands the table top of the surgical table to move in a translational degree of freedom caused by the table top of the surgical table moving in a pose degree of freedom.
In one embodiment, the acquiring the first position of the puncture device at the first moment includes:
acquiring joint variables of the joints at the first moment, and determining the first position based on the joint variables and by using positive kinematics;
the acquiring a second position of the puncture device at a second time adjacent to the first time comprises:
acquiring joint variables of the plurality of joints at the second moment, and determining the second position based on the joint variables and using positive kinematics;
the acquiring a third position of the puncture device at a third time adjacent to the second time comprises:
acquiring joint variables of the joints at the third moment, and determining the third position based on the joint variables and using positive kinematics.
In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed both comprise two-dimensional horizontal coordinate systems, and the horizontal plane of the base of the surgical robot and the horizontal plane of the base of the surgical bed are parallel or coincident with each other; the determining a first pose registration relationship between the surgical robot and the surgical bed based on the first position and the second position, comprising:
Determining a first displacement component of the puncture device on a first horizontal coordinate axis of a two-dimensional horizontal coordinate system of the surgical robot and a second displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to coordinates of the first position and the second position in the two-dimensional horizontal coordinate system of the surgical robot;
according to the first displacement component and the second displacement component, calculating a first rotation angle value between a reference coordinate system of the surgical robot and a reference coordinate system of the operating table on a horizontal plane to obtain a first posture registration relationship between the surgical robot and the operating table; the determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position, comprising:
determining a third displacement component of the puncture device on a first horizontal coordinate axis of a two-dimensional horizontal coordinate system of the surgical robot and a fourth displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to coordinates of the second position and the third position in the two-dimensional horizontal coordinate system of the surgical robot;
And calculating a second rotation angle value on a horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table according to the third displacement component and the fourth displacement component so as to obtain a second posture registration relationship between the surgical robot and the operating table.
In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed both comprise two-dimensional horizontal coordinate systems, and the horizontal plane of the base of the surgical robot and the horizontal plane of the base of the surgical bed are parallel or coincident with each other; the first posture registration relationship is characterized by adopting a first rotation angle value on a horizontal plane between a reference coordinate system of the surgical robot and a reference coordinate system of the surgical bed, and the second posture registration relationship is characterized by adopting a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed; when the first posture registration relationship and the second posture registration relationship meet a preset condition, determining a third posture registration relationship between the surgical robot and the surgical bed based on one or more of the first posture registration relationship and the second posture registration relationship, including:
Judging whether the difference value between the first rotation angle value and the second rotation angle value is in a preset range or not;
and if the first rotation angle value is in the preset range, taking the first rotation angle value as the third posture registration relation, or taking the second rotation angle value as the third posture registration relation, or taking the average value of the first rotation angle value and the second rotation angle value as the third posture registration relation.
In one embodiment, after the step of controlling the first joint of the plurality of joints to be in a zero force state, the method further comprises:
in response to translational movement of the table top of the surgical table in a translational degree of freedom, controlling movement of a second joint of the plurality of joints to compensate for a change in pose of the lancing device due to the first joint passively performing movement to track the translational degree of freedom.
In one embodiment, the controlling the second joint motion of the plurality of joints comprises:
acquiring motion information of a first rotary joint in the first joints, generating motion information of a second rotary joint in the second joints based on the motion information of the first rotary joint in the first joints, wherein the motion information of the first rotary joint in the first joints comprises a motion amount and a motion direction, and the motion information of the second rotary joint in the second joints comprises a motion direction opposite to the motion direction of the first rotary joint in the first joints and a motion amount which is the same as the motion amount of the first rotary joint in the first joints;
And controlling the movement of the second rotary joints in the second joints according to the movement information of the second rotary joints in the second joints.
The present application also provides a control method of a surgical robot including a driving arm having a plurality of joints, a puncture device being installed at a distal end of the driving arm, the puncture device being for insertion into a body opening of a patient lying on a table top of an operation table, the posture registration relationship between the surgical robot and the operation table acquired using the method as described above being a target posture registration relationship, the method comprising:
responding to the movement of the table top of the operating table in the attitude degree of freedom, and acquiring the movement information of the table top of the operating table in the attitude degree of freedom;
and determining a target joint amount of a third joint in the plurality of joints based on the motion information and the target posture registration relationship, and controlling the third joint to move according to the target joint amount so as to maintain the posture of the puncture device relative to the table top of the operating table in the posture degree of freedom.
In one embodiment, the control method further includes:
a target joint of the plurality of joints that is adjusted in association with a positional degree of freedom is controlled in response to movement of a table top of the surgical bed in a gestural degree of freedom to allow the drive arm to track a position of the body opening based on a force exerted by a body wall at the body opening of the patient through the target joint.
In one embodiment, the control method further includes:
judging whether the surgical robot accords with a first preset condition or not in the process of controlling the driving arm according to the movement of the table top of the surgical bed in the preset degree of freedom;
if the first preset condition is not met, stopping controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
the meeting the first preset condition comprises at least one of the following:
the puncture device is in a preset state with the position of the body opening;
the medical instrument arranged at the distal end of the driving arm is in a preset state with the position of the surgical site;
the movable range of each joint in the driving arm is in a preset movable range.
In one embodiment, the control method further includes:
judging whether the surgical robot and/or the surgical bed accords with a second preset condition or not before the driving arm is controlled according to the movement of the table top of the surgical bed in the preset degree of freedom;
if the second preset condition is met, controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
the meeting of the second preset condition comprises at least one of the following:
The surgical robot interfaces with a patient;
the base of the surgical robot and the base of the operating table are in a motion locking state;
the main operation table of the surgical robot is in a state of allowing the surgical robot to enter a surgical operation;
the communication connection between the surgical robot and the operating table is in a normal state;
the movable range of each joint in the driving arm is in a preset movable range.
In one embodiment, the distal end of the drive arm is provided with an imaging instrument, the imaging instrument passing through the puncture device into the patient, the control method further comprising:
acquiring an image acquired by the imaging instrument in the process of controlling the driving arm according to the movement of the table top of the operating table in a preset degree of freedom;
in response to identifying that a target area in the image meets a third preset condition, sending a control instruction to the operating table, wherein the control instruction comprises an instruction for controlling at least one of delay adjustment, stop adjustment and deceleration adjustment of the operating table; wherein, the meeting the third preset condition includes at least one of the following:
identifying a target surgical site or a marker associated with the target surgical site in the target region;
The target surgical site is in a preset pose in the target zone.
In one embodiment, the surgical robot further includes an operation portion, a distal end of the driving arm is provided with a medical instrument, and the control method further includes:
in the process of controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom, the orientation of the operating part is aligned with the orientation of the medical device in response to the change of the orientation between the operating part of the operating robot and the medical device arranged at the far end of the driving arm.
The application also provides a control device of a surgical robot, comprising:
a memory for loading and executing a computer program;
a processor for loading and executing the computer program;
wherein the computer program is loaded by the processor and executes steps implementing a method of pose registration of a surgical robot as described above and/or implementing a method of control of a surgical robot as described above.
The application also provides a surgical robot comprising a drive arm with a plurality of joints, the distal end of the drive arm being provided with a puncture device for insertion into a body opening of a patient lying on a table top of a surgical bed;
The surgical robot further comprises control means for performing the steps of implementing the method of registration of the pose of the surgical robot as described above and/or of implementing the method of control of the surgical robot as described above.
The application also provides a surgical system comprising a surgical bed and a surgical robot as described above, the surgical robot being in communication with the surgical bed, the table top of the surgical bed being adjustable in one or more degrees of freedom.
The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores thereon a computer program, which when executed by a processor, implements the pose registration method of the surgical robot as described above, and/or implements the steps of the control method of the surgical robot as described above.
The gesture registration method of the surgical robot comprises a driving arm with a plurality of joints, wherein a puncture device is arranged at the distal end of the driving arm and is used for being inserted into a body opening of a patient lying on a table top of an operation table, and the method comprises the following steps: controlling a first joint of the plurality of joints to be in a zero force state; in response to translational movement of the table top of the operating table in the translational degree of freedom, acquiring a first position of the puncturing device at a first time and a second position at a second time during passive execution of the movement of the first joint that tracks the body opening in the translational degree of freedom; based on the first position and the second position, a pose registration relationship between the surgical robot and the surgical bed is determined. According to the method and the device, in the process of passively executing the movement of tracking the body opening in the translational degree of freedom by the driving arm, the posture registration relation between the surgical robot and the operating table is determined based on the position change of the puncture device, so that a basis is provided for active control of the surgical robot, and the operation efficiency and the safety are improved.
The control method of the surgical robot comprises a driving arm with a plurality of joints, a puncture device is arranged at the distal end of the driving arm, the puncture device is used for being inserted into a body opening of a patient lying on a table top of an operation table, the posture registration relationship acquired by the method is used as a target posture registration relationship between the surgical robot and the operation table, and the method comprises the following steps: responding to the movement of the table top of the operating table in the attitude degree of freedom, and acquiring the movement information of the table top of the operating table in the attitude degree of freedom; and determining a target joint amount of a third joint of the plurality of joints based on the motion information and the target posture registration relationship, and controlling the third joint to move according to the target joint amount so as to maintain the posture of the puncture device relative to the table top of the operation table in the posture degree of freedom. According to the gesture registration information control method and device, gesture registration information between the surgical robot and the operating table can be based, and when the table top of the operating table moves in the gesture degree of freedom, the driving arm is actively controlled to adjust the gesture of the puncture device, so that the operation efficiency and safety are improved.
Drawings
FIG. 1 is a simplified diagram of the device relationships of a surgical system, according to one embodiment;
FIG. 2 is a schematic diagram illustrating a surgical system according to one embodiment;
FIG. 3 is a flow diagram illustrating a method of pose registration of a surgical robot, according to an embodiment;
FIG. 4 is a simplified diagram illustrating kinematic model relationships of a surgical system, according to one embodiment;
FIG. 5 is a schematic diagram illustrating the principle of registration with translational degree of freedom motion of the surgical bed, according to one embodiment;
FIG. 6 is one of the schematic diagrams of the registration principle when the surgical bed is performing a gestural degree of freedom motion, according to an embodiment;
FIG. 7 is a second schematic diagram illustrating the registration principle when the surgical couch is performing a gestural degree of freedom motion, according to an embodiment;
FIG. 8 is a flow chart illustrating a method of controlling a surgical robot according to another embodiment;
FIG. 9 is a schematic view of an operating table panel shown according to one embodiment;
fig. 10 is a schematic structural view of a control device of the surgical robot according to an embodiment.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth 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 invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. In the present invention, "each" includes one and two or more numbers.
Fig. 1 is a simplified diagram of the device relationships of a surgical system, according to one embodiment. As shown in fig. 1, the surgical system 100 includes a surgical robot and a surgical bed 105, the surgical robot includes a bedside robot arm system 101, a doctor main console 103, and an image cart imaging system 108, and it is understood that the constitution of the surgical robot is not limited thereto.
The bedside mechanical arm system 101 comprises a drive arm having a plurality of joints, the distal end of which is provided with a piercing device for insertion into a body opening of a patient 106 lying on the table top of the operating table 105, the piercing device being capable of providing a passageway between the surgical robot and a living being (including a person/animal) through which a medical instrument is inserted into the body of the living being, the medical instrument comprising an imaging instrument providing a field of view and a surgical instrument providing a surgical operation. The body opening includes, among other things, surgical incisions and/or natural orifice of a living being, such as a patient's body, which illustratively includes the mouth, nose, anus.
The doctor main console 103 communicates with the bedside mechanical arm system 101 in real time through the data transmission path 120, and the operation actions of the doctor on the doctor main console 103 operate the medical devices in the bedside mechanical arm system 101 through the master-slave mapping relationship based on the kinematic model, and meanwhile, the doctor main console 103 can monitor the state of the bedside mechanical arm system 101, for example, monitor the motion information of each joint in the bedside mechanical arm system 101. When the operation table 105 performs the movement of the corresponding degree of freedom, the patient 106 fixed on the table top of the operation table 105 maintains a relatively stationary state with respect to the table top, the body position change of the patient 106 is achieved by the operation table 105 performing the movement of the corresponding degree of freedom, the movement information of each movement joint of the operation table 105 is recorded and stored in real time, and the movement information of the operation table 105 is transmitted to the bedside robot arm system 101 through the data transmission path 150. Data transmission between the doctor's home console 103 and the operating table 105 is via a data transmission path 130. The image of the operation position of patient 106 is gathered by installing the imaging apparatus of bedside arm system 101, and imaging apparatus connects image car imaging system 108, and the image of imaging apparatus collection is transmitted in the image car imaging system 108 through data transmission path 110, and then, image car imaging system 108 feeds back the image of imaging apparatus collection to doctor's main control board 103 through data transmission path 160 in real time, provides the operation field of vision for the doctor to the smooth implementation of operation of being convenient for. In actual implementation, the data transmission paths 110, 120, 130, 150, 160 may be wired or wireless.
The posture registration method and the control method of the surgical robot when the surgical bed 105 performs the motion of the corresponding degrees of freedom will be described in detail below.
Fig. 2 is a schematic structural view of a surgical system according to an embodiment. As shown in fig. 2, the structure of the bedside robotic arm system 101 and the operating table 105 of the surgical robot is mainly illustrated. The bedside mechanical arm system 101 comprises a motion chassis 201, a mechanical arm 250 and a driving arm, the motion chassis 201 can integrally move the bedside mechanical arm system 101 in any direction on the horizontal ground, the mechanical arm 250 is used for integrally positioning one or more driving arms, and the driving arm comprises an adjusting arm 260 and a manipulator arm 270.
The motion chassis 201 can adopt a wheeled moving structure, so that the relative position relationship between the bedside mechanical arm system 101 and the operating table 105 is more flexible, the constraint condition of regional appointed positions does not exist, on-site medical staff can push the patient to complete the positioning operation and the locking operation after positioning according to the actual operation use requirement, and the patient can be fully close to the operating table 105 and simultaneously the preoperative positioning action of each manipulator 270 above the patient body is facilitated. In this embodiment, the bedside mechanical arm system 101 is further provided with a ranging assembly 202 for measuring external distances, such as a laser ranging assembly, an ultrasonic ranging assembly, a visual ranging assembly, etc., which typically have ultra-high precision to facilitate accurate ranging.
The robotic arm 250 includes a stationary support 203 fixedly coupled to the motion chassis 201 for supporting all of the motion joints, a lifting column 204 for performing the overall lifting linear motion J1 of the robotic arm 250, a large arm 205 and a small arm 206 for performing the rotational motions J2 and J3, respectively, and a directional platform 207 for controlling one or more adjustment arms 260 to perform the overall rotational motion J4, the motions of these joints enabling a rapid reach to the intended preoperative swing area, facilitating a reduced docking time between the preoperative bedside robotic arm system 101 and the patient 106.
The one or more adjustment arms 260 are coupled to the orienting platform 207 by the rotary joint J5 either alone or in parallel, and in some examples, the bedside robotic arm system 101 has multiple adjustment arms 260, and, given that the configuration between the multiple adjustment arms 260 is substantially identical and the descriptions of the various joints are substantially identical, the structural presentation and description of the various joint relationships is described below using only one adjustment arm 260 and one manipulator arm 270 as examples in fig. 2. In some examples, the adjustment arm 260 includes a small rotating platform 208, a telescoping arm 209 that performs a linear translational motion J6 in a horizontal direction parallel to the ground, a moving vertical arm 211 that performs an up-down elevating motion J7 in a vertical direction perpendicular to the ground, a swivel joint 213 that performs a rotational motion J8, and a swivel joint 213 that performs a rotational motion J9, with respect to a fixed vertical arm 210 that is fixedly connected to the telescoping arm 209.
The manipulator arm 270 comprises a yaw joint 214 for a rotational movement J10 with the whirlwind joint 213, a parallelogram linkage base 215, a first link 216 and a second link 217 for performing a rotational movement J11, and a holding arm 218 for performing a linear movement J12 of the medical instrument 219 in the direction of the guide rail. A puncturing device (trocon) 229 is mounted at the distal end of the manipulator arm 270. The telecentric stop 220 of the lancing device 229, which is located at the same position as the body opening of the patient 106, is defined by the intersection of the axis of the whirlwind joint 213 and the axis of the yaw joint 214, and the intersection of these two axes with the lateral center plane of the parallelogram linkage base 215 likewise converges at the telecentric stop 220 of the lancing device 229, furthermore, the first link 216 and the second link 217 form a parallelogram motion mechanism as two adjacent sides with two virtual adjacent sides parallel to them, the folding and unfolding motions of the parallelogram motion being performed by one motor and about the axis of the rotational motion J11, the motion stop of the parallelogram likewise converging at one point with the telecentric stop 220 of the lancing device 229, and this intersection lying on the central axis of the medical instrument 219, the medical instrument tip 221 being inserted into the body of the patient 106, and performing the surgical actions of the doctor at the main console based on a master-slave mapping relationship.
The operating table 105 includes an operating table movement mechanism 280, and the operating table movement mechanism 280 includes a wheeled chassis 227 movable on a horizontal floor, a fixed column 226, a telescopic column 225, a front-rear tilt swivel 223, a left-right tilt swivel 224, and an uppermost table top 222. The fixed upright post 226 is fixed on the wheel chassis 227 through a bolt connection, relative movement between the telescopic upright post 225 and the fixed upright post 226 is performed to perform up-down lifting movement B2, meanwhile, the two are used as a supporting mechanism to support the table top 222 of the operating table 105 and the patient 106, the axis of the rotary movement B3 of the front-back tilting rotary joint 223 and the axis of the rotary movement B4 of the left-right tilting rotary joint 224 intersect at the upper position of the telescopic upright post 225, the table top 222 for supporting and fixing the patient 106 is arranged at the uppermost, and the front-back translation movement B1 of the table top 222 is performed by a telescopic transmission mechanism positioned inside the bed plate. During the movement of the table top 222 of the operating table 105, the patient 106 needs to remain stationary relative to the table top 222, the telecentric stop 220 of the puncturing device 229 needs to remain stationary relative to the patient 106, and the medical instrument tip 221 needs to remain stationary relative to the surgical site to enable patient safety.
The posture registration method and the control method of the surgical robot when the surgical bed 105 performs the motion of the corresponding degrees of freedom will be described in detail below.
The posture registration method of the surgical robot of the present embodiment is applicable to the surgical robots referred to in fig. 1 and 2, and also to other types of surgical robots, such as single-hole surgical robots. The surgical robot comprises a drive arm with a plurality of joints, the distal end of which is provided with a puncture device for insertion into a body opening of a patient lying on the table top of the operating table. As shown in fig. 3, the posture registration method of the surgical robot of an embodiment includes:
step S1, controlling a first joint of the plurality of joints to be in a zero force state, the first joint comprising a joint having a translational degree of freedom to allow the drive arm to track movement of the body opening in the translational degree of freedom based on a force applied by a body wall of the body opening of the patient;
step S2, responding to the translational movement of the table top of the operating table in the translational degree of freedom, and acquiring a first position of the puncture device at a first moment and a second position of the puncture device at a second moment adjacent to the first moment in the process of passively executing the movement of the body opening in the translational degree of freedom by the first joint;
And step S3, determining a first posture registration relationship between the surgical robot and the surgical bed based on the first position and the second position.
By the mode, in the process of passively executing the motion of tracking the body opening in the translational degree of freedom by the driving arm, the posture registration relation between the surgical robot and the operating table can be determined based on the position change of the puncture device, so that a basis is provided for the surgical robot to actively execute posture adjustment, and the operation efficiency and the operation safety are improved. The puncture device can move around the telecentric fixed point at the distal end of the driving arm, so that the position of the telecentric fixed point can be used for representing the position of the puncture device, but in actual implementation, the position of the puncture device can also be represented by the position of other characteristic points with fixed position relation relative to the telecentric fixed point, and the puncture device is not limited.
In order to realize the motion of the gesture degree of freedom of the table surface of the operation table, the gesture of the puncture device needs to be adjusted by actively controlling the driving arm, and the gesture registration relation between the operation robot and the operation table is required to be acquired firstly, wherein the gesture registration relation refers to the conversion relation between the reference coordinate system of the operation robot and the reference coordinate system of the operation table. In the present embodiment, the posture registration relationship between the surgical robot and the operating table is obtained by establishing a coordinate system conversion relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
The reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot, and the reference coordinate system of the operating table is the reference coordinate system of the operating table. In some embodiments, the reference coordinate system of the surgical robot comprises a base coordinate system of the surgical robot. In some embodiments, the reference coordinate system of the surgical couch includes a base coordinate system of the surgical couch. Referring to fig. 2 and 4, the reference coordinate system 301 of the surgical robot may be generally established on the motion chassis 201 of the bedside mechanical arm system 101, including two coordinate axes on a horizontal plane and the origin of coordinates being located on the axis of the fixed support 203, but in actual implementation, the reference coordinate system 301 of the surgical robot may not be established on the motion chassis 201, but only needs to have a fixed coordinate conversion relationship with the coordinate system of the motion chassis 201. According to the kinematic coordinate system establishment rules, a mechanical arm end coordinate system 302, an adjusting arm end coordinate system 303 and a medical instrument end coordinate system 304 can be established respectively, the medical instrument end coordinate system 304 is called a manipulator arm end coordinate system, the motion condition of a medical instrument installed at the manipulator arm end under a reference coordinate system 301 of a surgical robot can be known by determining conversion matrix relations 310, 320 and 330 among the coordinate systems, the motion condition of each motion joint in the mechanical arm 250, the adjusting arm 260 and the manipulator arm 270 under the reference coordinate system 301 of the surgical robot is realized by monitoring the motion of the corresponding joint coordinate system, and the master-slave mapping relation between a doctor main control console and the bedside mechanical arm system 101 is also completed by conversion based on the relation among the coordinate system conversion matrixes. Further, from the conversion matrix relation 370 between the telecentric fixed point coordinate system 307 and the adjustment arm end coordinate system 303, the position information of the telecentric fixed point of the puncture device in the reference coordinate system 301 of the surgical robot and the posture information of the puncture device can be known.
In consideration of the central symmetry of the operating table 105 in the mechanical structure and the distribution of the motion joints in the system, the reference coordinate system 305 of the operating table is usually established at the center of the wheel chassis 227, including two coordinate axes located on a horizontal plane and the origin of coordinates being located on the central axis of the wheel chassis 227, but in actual implementation, the reference coordinate system 305 of the operating table may not be established at the center of the wheel chassis 227, and only needs to have a fixed coordinate conversion relationship with the coordinate system of the wheel chassis 227. The coordinate systems of the joints of the operating table 105 are sequentially established at the moving joints according to the coordinate system establishment rule, the table top coordinate system 306 of the operating table is established at the center of the upper surface of the table top, and the relative static movement of the patient relative to the table top is considered, so that the coordinate system 306 of the table top of the operating table can accurately reflect the overall movement condition of the patient in the reference coordinate system 305 of the operating table through the coordinate system conversion relation 350, and the movement of the joints of the operating table can be monitored.
Because the body types and weights of different patients are greatly different, and the position information of the body opening cannot be accurately acquired before an operation due to the difference of the operation types, the conversion relation 360 between the telecentric fixed point coordinate system 307 and the operating table surface coordinate system 306 cannot be directly acquired, so that the pose (position and posture) cannot be positioned between the bedside mechanical arm system 101 and the operating table 105, and technical level barriers are brought by controlling the operation robots to link with the operating table when the operating table is adjusted under the condition that the docking relation between the operation robots and the patients is not released. In general, when an operation table is adjusted without releasing the abutting relationship between the operation robot and the patient, only the force acting on the puncture device during the movement of the operation table can be used to control the driving arm to do the following movement, and meanwhile, the overlapped movement compensation is used to improve the tracking accuracy of the gesture.
In the present embodiment, by establishing the coordinate system conversion relation 340 between the reference coordinate system 301 of the surgical robot and the reference coordinate system 305 of the operating table, the conversion relation 360 between the telecentric fixed point coordinate system 307 and the table top coordinate system 306 of the operating table is replaced, so that the posture registration between the surgical robot and the operating table is realized, and the feasibility of the linkage between the surgical robot and the operating table is conveniently controlled.
In the present embodiment, the coordinate system conversion relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes an attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. In one case, the reference coordinate system of the surgical robot may be established on the motion chassis of the bedside mechanical arm system and include two horizontal coordinate axes (for example, an x axis and a y axis) located on a horizontal plane, and the reference coordinate system of the surgical bed may be established on the wheel chassis of the surgical bed and include two horizontal coordinate axes (for example, an x axis and a y axis) located on the horizontal plane, and at the same time, the motion chassis and the horizontal plane where the wheel chassis is located are parallel or coincide with each other, so that an attitude included angle between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed may be characterized only as a relative deflection angle between the horizontal coordinate axes of the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed, thereby simplifying an operation of coordinate conversion.
In step S2, the translational movement includes at least one of a translational movement that commands the table top of the operation table to move in the translational degree of freedom, and a translational movement that commands the table top of the operation table to move in the translational degree of freedom caused by the movement of the table top of the operation table in the posture degree of freedom. The following describes a posture registration process in the translational degree of freedom movement process of the table top of the operation table and a posture registration process in the posture degree of freedom movement process of the table top of the operation table, respectively.
(1) The table top of the operating table carries out the posture registration process in the translational freedom movement process.
Step S1 is performed before the translational degree of freedom motion of the table top of the surgical table, controlling a first joint of the plurality of joints to be in a zero force state, the first joint comprising a joint having a translational degree of freedom to allow the drive arm to track the motion of the body opening in the translational degree of freedom based on a force exerted by a body wall of the body opening of the patient by the first joint. Taking the example of the forward and backward translational movement B1 shown in fig. 2, each joint of the robot arm 250 and the manipulator arm 270 is in a motion-locked state, the lifting movement J7 of the adjustment arm 260 is also in a motion-locked state, and the remaining joints J5, J6, and J8 of the adjustment arm 260 are all in a zero-force state. Therefore, in the process of translational degree of freedom movement of the table top of the operating table, the operating arm 270 can be dragged to drive the telecentric fixed point 220 to perform translational movement by means of the interaction force between the puncturing device 229 and the body wall of the body opening of the patient at the telecentric fixed point 220.
In some embodiments, controlling a first joint of a plurality of joints to be in a zero force state is exemplary of the need to control the respective joint to be able to substantially compensate (or balance) the weight of its distal load and/or overcome the friction of its joint itself to easily track the position of the body opening based on the force exerted by the body wall at the body opening of the patient. Of course, this principle is also applicable to the case where the corresponding joint of the control target joint is in the zero-force state.
In some embodiments, controlling the respective joint to be in a zero force state may include:
acquiring joint positions of at least the corresponding joint and a joint at a distal end thereof, and determining a compensation moment corresponding to the output of the corresponding joint in combination with the joint positions and a dynamic model associated with the corresponding joint; and further controlling the corresponding joint to output the compensation moment.
Wherein the joint of the drive arm typically comprises a position sensor for detecting the position of the joint thereof, which position sensor may for example employ an encoder. The joints of the drive arm also typically include a drive mechanism, such as a motor, that controls the respective joint in a zero force state, i.e., controls the associated motor to output a compensating torque.
The kinetic model that needs to be used in the present application is typically built for this respective joint, e.g. the built kinetic model is typically different for different respective joints. Typically, the kinetic model is associated with the respective joint and its distal joint.
For example, the kinetic model for the respective joint may be constructed as follows:
and acquiring the connecting rod parameters of the corresponding joint and the joint at the far end of the corresponding joint, and establishing a connecting rod coordinate system according to the connecting rod parameters. The joint comprises a joint and a connecting rod connected with the joint, and the connecting rod parameters (namely DH parameters) comprise joint angle and/or joint displacement, connecting rod length and other parameters.
A first kinetic model associated with the respective joint is constructed from the link coordinate system. Wherein the first kinetic model is typically expressed in symbolic form (i.e. a formula with unknown parameters), the first kinetic model being a fuzzy (i.e. a kinetic parameter tentatively determined) kinetic model. For example, the first kinetic model is expressed as the following formula:
where τ is the actual moment of the joint, θ is the joint position of the joint,is the velocity of the joint (+)>Is the primary guide of θ), ∈θ>Is the velocity of the joint (+)>Is the second derivative of θ), M (θ) is the inertial matrix, +>Including the coriolis and centrifugal forces, G (θ) is the gravitational moment of the joint.
Unknown kinetic parameters in the first kinetic model are determined. Wherein the first dynamics model typically comprises at least one unknown dynamics parameter, typically, the unknown dynamics parameters involved in equation (1) may all be determined to obtain an accurate second dynamics model. In one embodiment, the part may be omitted according to actual conditions The contribution of unknown kinetic parameters to joint moments may be focused on several more critical kinetic parameters, such as the mass, centroid, and friction moment of the joint, which may be affected by the drive mechanism driving the joint and/or the transmission mechanism connecting the drive mechanism and the joint to effect the transmission, in some embodiments. For example, when the structure of the driving arm is regular, at least part of the dynamic parameters such as the mass, the mass center and the friction moment of the joint can be directly obtained without identification. Of course, at least part of the dynamic parameters such as the mass, the mass center and the friction moment of the joint can also be obtained by adopting an identification method. For example, the mass of the joint may be obtained by weighing, and the mass center and friction moment of the joint may be obtained by using an identification method. For example, consider M (θ) to be ignoredThe contribution to joint torque is acceptable in one example of the present application, and thus, equation (1) may be abbreviated as follows:
τ=g (θ) formula (2)
Substituting the determined kinetic parameters into the first kinetic model to obtain a second kinetic model. Wherein the second kinetic model is a distinct (i.e. kinetic parameters determined) kinetic model. Further, in determining the compensation torque corresponding to the desired output of the driving mechanism of the respective joint in combination with the joint positions and the dynamics model associated with the respective joint, the dynamics model used refers to the second dynamics model.
In some embodiments, considering the adverse effect of the friction torque, the friction torque may be excluded from the actual torque of the joint, specifically:
a moment balance model of the joint can be constructed based on the dynamic balance principle, and the moment balance model can be expressed as the following formula:
where τ is the actual moment of the joint, θ is the joint position of the joint,is the velocity of the joint, k 1 、k 2 The heavy moment parameter, f is the friction moment of the joint, < ->Indicating the direction of the velocity.
Furthermore, the friction moment of the joint can be determined by an identification method, for example, a single joint can be controlled to perform uniform motion at a low speed, the whole motion range is traversed, and the actual moment of the joint and the corresponding joint position are acquired, wherein the single joint refers to the joint corresponding to the corresponding joint. The friction moment is approximately unchanged and is generally considered as a constant value during uniform motion, so that the friction moment of the joint can be identified by using a least square method according to the acquired actual moment of the joint and the corresponding joint position. It will be appreciated that the actual moment of the joint is output by the drive mechanism that drives the joint.
Furthermore, when determining the unknown kinetic parameters (such as the gravity moment in the formula (2)) in the first kinetic model through the identification method, each joint can be controlled to perform uniform motion at a low speed, the whole motion range is traversed, the actual moment of the corresponding joint and the joint positions corresponding to the corresponding joint and the joint at the far end are collected, the actual moment of the corresponding joint, the friction moment of the corresponding joint and the joint positions corresponding to the corresponding joint and the joint at the far end are combined, and the unknown kinetic parameters (such as the gravity moment in the formula (2)) can be identified by utilizing the least square method. For example, in the formula (2), the identified unknown kinetic parameters are mainly the gravity moment parameters (including mass, centroid, etc.), and thus, the second kinetic model associated with the relationship between the joint positions of the corresponding joint and the joint at the distal end thereof and the compensation moment of the corresponding joint can be effectively constructed.
When a first joint of the plurality of joints of the surgical robot is in a zero-force state, in response to translational movement of the table top of the surgical bed in the translational degree of freedom, further acquiring a first position of the puncture device at a first moment and a second position of the puncture device at a second moment adjacent to the first moment in a process of passively performing tracking movement of the body opening in the translational degree of freedom in the first joint, and determining a first posture registration relationship between the surgical robot and the surgical bed based on the first position and the second position.
Wherein obtaining a first position of the puncture device at a first time comprises: joint variables of a plurality of joints at a first time are acquired, and a first position is determined based on the joint variables and using positive kinematics. Acquiring a second position of the lancing device at a second time adjacent to the first time comprises: and acquiring joint variables of a plurality of joints at a second moment, and determining a second position based on the joint variables and by using positive kinematics. The first position and the second position may be coordinate positions in a reference coordinate system of the surgical robot, and the first position and the second position may be coordinate positions in a two-dimensional horizontal coordinate system of the surgical robot mainly taken into consideration when performing the posture matching.
The reference coordinate system of the surgical robot and the reference coordinate system of the operating table comprise two-dimensional horizontal coordinate systems, and the horizontal plane of the base of the surgical robot and the horizontal plane of the base of the operating table are parallel or coincide with each other; determining a first pose registration relationship between the surgical robot and the surgical bed based on the first position and the second position, comprising:
determining a first displacement component of the puncture device on a first horizontal coordinate axis of a two-dimensional horizontal coordinate system of the surgical robot and a second displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to coordinates of the first position and the second position in the two-dimensional horizontal coordinate system of the surgical robot;
according to the first displacement component and the second displacement component, calculating a first rotation angle value on a horizontal plane between a reference coordinate system of the surgical robot and a reference coordinate system of the operating table to obtain a first posture registration relationship between the surgical robot and the operating table.
Referring to fig. 5, taking the surgical system shown in fig. 2 as an example, a reference coordinate system of the surgical robot is established at a central position of the base 3401 such that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 3403 (O robot -X robot Y robot ). The reference coordinate system of the operation table is established at the center position of the base 3404 such that the reference coordinate system of the operation table has a two-dimensional coordinate system 3405 (O) bed -X bed Y bed ) The axis Z of the reference coordinate system of the surgical robot without considering the unevenness of the ground robot Z of a reference coordinate system of an operating table bed Parallel to each other and perpendicular to the ground, the relative pose relationship between the surgical robot and the operating table is not fixed, so that the coordinate system O robot -X robot Y robot Z robot With O bed -X bed Y bed Z bed An included angle theta Z around the Z axis exists between the two, and the included angle theta Z is a variable to be known for carrying out gesture positioning between a reference coordinate system of the surgical robot and a reference coordinate system of the surgical bed. In FIG. 5, the telecentric stationary point corresponding to the puncturing device mounted at the distal end of the drive arm 3402 is defined as point A, which can be obtained in the coordinate system O based on the joint kinematics model of the bedside mechanical arm system robot -X robot Y robot Z robot The lower coordinates are denoted as a (x 1 ,y 1 ) This is the first position when the table top of the operating table is along the axial direction Y bed When translational motion occurs, the telecentric motionless point is moved from the initial position point A (x 1 ,y 1 ) To a second position point B (x 2 ,y 2 ) In the course of (a), point A is along Y in the reference coordinate system of the operating table bed The first axial displacement component may be expressed asPoint a along X in the reference coordinate system of the surgical robot robot A first displacement component in the axial direction (first horizontal axis) is denoted as Δx, along Y robot The second displacement component in the axial direction (second horizontal axis) is denoted as deltay, and point a (x 1 ,y 1 ) And point B (x) 2 ,y 2 ) Can be derived based on the kinematic model coordinate system relationships 310, 320, and 370 to obtain displacement components Δx and Δy.
After the displacement components Δx and Δy are obtained, according to trigonometric function theorem, an included angle θz between the coordinate system 3403 and the horizontal coordinate axis (such as the y axis) of the coordinate system 3405, that is, a first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed, can be calculated by adopting the following formula:
based on the formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be realized, and the realization of the posture registration is a technical basis and a realization precondition for executing the linkage of the surgical robot and the operating table.
Along with the gradual increase of the moving distance of the table top of the operating table, the position of the telecentric fixed point is continuously updated, the displacement deltax and deltay are also continuously updated, the posture registration relationship is updated by using the changed position, and the calculated posture included angle theta can be made z The accuracy in the continuous update process is getting higher and higher. Thus, in an embodiment, the method may further comprise:
acquiring a third position of the puncturing device at a third time adjacent to the second time during the first joint passively performing a motion tracking the body opening in the translational degree of freedom;
determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position;
and determining a third posture registration relationship between the surgical robot and the surgical bed based on one or more of the first posture registration relationship and the second posture registration relationship when the first posture registration relationship and the second posture registration relationship satisfy a preset condition.
Wherein obtaining a third position of the lancing device at a third time adjacent to the second time comprises: and acquiring joint variables of a plurality of joints at a third moment, and determining a third position based on the joint variables and by utilizing positive kinematics. During the passive execution of the movement of the first joint in tracking the body opening in translational degrees of freedom, the third position is acquired after the acquisition of the second position, i.e. the updated position of the puncturing device.
Determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position, comprising:
Determining a third displacement component of the puncture device on a first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot and a fourth displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to the coordinates of the second position and the third position in the two-dimensional horizontal coordinate system of the surgical robot;
and calculating a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table according to the third displacement component and the fourth displacement component so as to obtain a second posture registration relationship between the surgical robot and the operating table.
The principle and process of calculating the second rotation angle value are the same as those of calculating the first rotation angle value, except that the second position and the third position are used for calculation. In another embodiment, a fifth displacement component of the puncture device on a first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot and a sixth displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot may be determined according to coordinates of the first position and the third position in the two-dimensional horizontal coordinate system of the surgical robot, and a second rotation angle value on a horizontal plane between a reference coordinate system of the surgical robot and a reference coordinate system of the surgical bed may be calculated according to the fifth displacement component and the sixth displacement component, so as to obtain a second posture registration relationship between the surgical robot and the surgical bed. The principle and procedure are the same as those of calculating the first rotation angle value.
When the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed both comprise two-dimensional horizontal coordinate systems, the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the surgical bed is located are parallel or coincide with each other, the first posture registration relationship is represented by a first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed, and the second posture registration relationship is represented by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed, when the first posture registration relationship and the second posture registration relationship meet preset conditions, determining a third posture registration relationship between the surgical robot and the surgical bed based on one or more of the first posture registration relationship and the second posture registration relationship, including:
judging whether the difference value between the first rotation angle value and the second rotation angle value is in a preset range or not;
and if the first rotation angle value is in the preset range, the first rotation angle value is used as a third posture registration relation, or the second rotation angle value is used as a third posture registration relation, or the average value of the first rotation angle value and the second rotation angle value is used as the third posture registration relation.
In the process of passively executing the movement of tracking the body opening in the translational degree of freedom by the first joint, according to the position change of the puncture device, the rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is continuously calculated until the difference value of the rotation angle values of two adjacent times is within a preset range, namely, the difference value is smaller than a preset angle precision deviation threshold value, at the moment, the posture registration relationship is considered to reach the precision requirement, and the latest calculated rotation angle value can be used as a target posture registration relationship used in the subsequent linkage control, and the linkage control is started. Of course, since the deviation of the rotation angle values calculated in the last two times is small, any one of the rotation angle values calculated in the last two times or the average value may be used as the target posture registration relationship used in the subsequent linkage control. In actual implementation, when modeling is accurate, only one time of registration is needed, so that the first posture registration relationship can be directly used as a target posture registration relationship used in subsequent linkage control, and linkage control can be started after one time of posture registration is performed.
In the process of calculating and updating the posture registration relationship, the transmission of the table top motion information of the operating table to the surgical robot needs to always keep good real-time performance. In the gesture registration process, the speed of the operating table is adjusted to be a first speed, and after registration is completed, the speed of the operating table is adjusted to be a second speed which is greater than or equal to the first speed, and is usually greater than the first speed.
During the translational degree of freedom movement of the table top of the operating table, the first joint passively performs a movement that tracks the body opening in the translational degree of freedom may cause a change in the posture of the puncturing device, and thus, after the step of controlling the first joint of the plurality of joints of the driving arm to be in a zero force state, the method of the present application further comprises:
in response to translational movement of the table top of the surgical table in the translational degrees of freedom, second joint movement of the plurality of joints is controlled to compensate for a change in posture of the lancing apparatus due to the first joint passively performing movement to track the translational degrees of freedom.
In one embodiment, controlling movement of a second joint of the plurality of joints comprises:
acquiring motion information of a first rotary joint in the first joints, generating motion information of a second rotary joint in the second joints based on the motion information of the first rotary joint in the first joints, wherein the motion information of the first rotary joint in the first joints comprises a motion amount and a motion direction, and the motion information of the second rotary joint in the second joints comprises a motion direction opposite to the motion direction of the first rotary joint in the first joints and a motion amount which is the same as the motion amount of the first rotary joint in the first joints;
And controlling the movement of the second rotary joint in the second joint according to the movement information of the second rotary joint in the second joint.
Taking the example of the fore-and-aft translational movement B1 shown in fig. 2, each joint of the robot arm 250 and the manipulator arm 270 is in a movement lock state, the lifting movement J7 of the adjustment arm 260 is also in a movement lock state, and the remaining movements J5, J6, and J8 of the adjustment arm 260 are all in a zero force drag mode. In the movement process of the table top of the operating table, by means of the interaction force between the puncturing device 229 and the body wall of the body opening of the patient at the telecentric fixed point 220, the table top drags the operating arm 270 to drive the telecentric fixed point 220 to perform translational movement, and the movement of J5 and J8 is controlled to be equal in size and opposite in direction based on the kinematic model, so that the gesture of the puncturing device 229 in the movement process can be kept unchanged.
(2) The posture registration process in the process of the rotation freedom degree movement is carried out on the table top of the operation table.
In the process of the table top of the operation table performing the rotation degree of freedom movement, the table top of the operation table can be caused to perform the translation degree of freedom movement, so that in the process of the table top of the operation table performing the rotation degree of freedom movement, the posture registration of the operation robot and the operation table can be realized based on the process of the table top of the operation table performing the translation degree of freedom movement. Step S1 is performed before the translational degree of freedom motion of the table top of the surgical table, controlling a first joint of the plurality of joints to be in a zero force state, the first joint comprising a joint having a translational degree of freedom to allow the drive arm to track the motion of the body opening in the translational degree of freedom based on a force exerted by a body wall of the body opening of the patient by the first joint. Taking the tilting motion B4 shown in fig. 2 as an example, each joint of the adjusting arm 270 is in a non-motion locking state, and joints J6, J7 and J8 of the adjusting arm 270 are in a zero-force dragging mode (i.e., a zero-force state), so that the telecentric fixed point of the puncture device at the tail end of the actuating arm can be dragged to perform movement in a two-dimensional plane by means of the interaction force at the abdominal wall during the movement of the table surface of the operating table.
When a first joint of the plurality of joints of the surgical robot is in a zero-force state, in response to translational movement of the table top of the surgical bed in the translational degree of freedom, further acquiring a first position of the puncture device at a first moment and a second position of the puncture device at a second moment adjacent to the first moment in a process of passively performing tracking movement of the body opening in the translational degree of freedom in the first joint, and determining a first posture registration relationship between the surgical robot and the surgical bed based on the first position and the second position. In the posture registration process in the rotational degree of freedom movement process of the table top of the operation table, the manner of acquiring the position of the puncture device is the same as that in the translational degree of freedom movement process of the table top of the operation table directly, and detailed description is omitted herein, and the specific operation process is described below by referring to fig. 6 and 7.
Referring to fig. 6, taking the surgical system shown in fig. 2 as an example, a reference coordinate system of the surgical robot is established at a central position of the base 3401 such that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 3403 (O robot -X robot Y robot ). The reference coordinate system of the operation table is established at the center position of the base 3404 such that the reference coordinate system of the operation table has a two-dimensional coordinate system 3405 (O) bed -X bed Y bed ) The axis Z of the reference coordinate system of the surgical robot without considering the unevenness of the ground robot Z of a reference coordinate system of an operating table bed Parallel to each other and perpendicular to the ground, the relative pose relationship between the surgical robot and the operating table is not fixed, so that the coordinate system O robot -X robot Y robot Z robot With O bed -X bed Y bed Z bed An included angle theta Z around the Z axis exists between the two, and the included angle theta Z is a variable to be known for carrying out gesture positioning between a reference coordinate system of the surgical robot and a reference coordinate system of the surgical bed. In FIG. 6, the telecentric stationary point corresponding to the puncturing device mounted at the distal end of the drive arm 3402 is defined as point A, which can be obtained in the coordinate system O based on the joint kinematics model of the bedside mechanical arm system robot -X robot Y robot Z robot The lower coordinates are denoted as a (x 1 ,y 1 ) This is the first position, as shown in fig. 7, when the table top 403 of the operating table performs the operation table rotates the coordinate system 402O around the left-right tilt joint table -X table Y table Z table Y of (2) table When the axis moves in a clockwise direction, the telecentric fixed point is moved from the linkage initial position point A (x 1 ,y 1 ) To a second position point C (x 3 ,y 3 ) Point a is along X in the reference coordinate system of the operating table bed The axial displacement component can be expressed asAlong Z bed The axial displacement component can be expressed as +.>Meanwhile, the point A is along X under the reference coordinate system of the surgical robot robot The first displacement component in the axial direction is denoted as Δx', along Y robot The second displacement component in the axial direction is denoted as Δy', and point a (x 1 ,y 1 ) And point C (x 3 ,y 3 ) Can be derived based on the kinematic model coordinate system relationships 310, 320, and 370, resulting in displacement components Δx 'and Δy'.
After the displacement components Δx 'and Δy' are obtained, according to the trigonometric function theorem, an included angle θz between the coordinate system 3403 and the horizontal coordinate axis (such as the y axis) of the coordinate system 3405, that is, a first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed, can be calculated by adopting the following formula:
/>
based on the formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be realized, and the realization of the posture registration is a technical basis and a realization precondition for executing the linkage of the surgical robot and the operating table. Along with the gradual increase of the moving distance of the table top of the operating table, the position of the telecentric fixed point is continuously updated, the displacement deltax 'and deltay' are also continuously updated, the posture registration relationship is updated by using the changed position, and the calculated posture included angle theta can be made z The accuracy in the continuous update process is getting higher and higher. During the process of the rotary freedom movement of the table top of the operating tableIn the posture registration process, the mode of updating the posture registration relationship is the same as the mode of updating when the table top of the operating table directly moves in the translational degree of freedom, and is not described in detail herein.
During translational movement of the table top of the operating table, the first joint passively performs a movement tracking the body opening in a translational degree of freedom may cause a change in posture of the puncturing device, and thus, after the step of controlling the first joint of the plurality of joints of the driving arm to be in a zero force state, the method of the present application further comprises:
in response to translational movement of the table top of the surgical table in the translational degrees of freedom, second joint movement of the plurality of joints is controlled to compensate for a change in posture of the lancing apparatus due to the first joint passively performing movement to track the translational degrees of freedom.
Wherein controlling a second joint motion of the plurality of joints comprises:
acquiring motion information of a first rotary joint in the first joints, generating motion information of a second rotary joint in the second joints based on the motion information of the first rotary joint in the first joints, wherein the motion information of the first rotary joint in the first joints comprises a motion amount and a motion direction, and the motion information of the second rotary joint in the second joints comprises a motion direction opposite to the motion direction of the first rotary joint in the first joints and a motion amount which is the same as the motion amount of the first rotary joint in the first joints;
And controlling the movement of the second rotary joint in the second joint according to the movement information of the second rotary joint in the second joint.
Taking the example of the fore-and-aft translational movement B1 shown in fig. 2, each joint of the robot arm 250 and the manipulator arm 270 is in a movement lock state, the lifting movement J7 of the adjustment arm 260 is also in a movement lock state, and the remaining movements J5, J6, and J8 of the adjustment arm 260 are all in a zero force drag mode. In the movement process of the table top of the operating table, by means of the interaction force between the puncturing device 229 and the body wall of the body opening of the patient at the telecentric fixed point 220, the table top drags the operating arm 270 to drive the telecentric fixed point 220 to perform translational movement, and the movement of J5 and J8 is controlled to be equal in size and opposite in direction based on the kinematic model, so that the gesture of the puncturing device 229 in the movement process can be kept unchanged.
Taking the tilting motion B4 shown in fig. 2 as an example, each joint of the adjusting arm 270 is in a non-motion locking state, and joints J6, J7 and J8 of the adjusting arm 270 are in a zero-force dragging mode (i.e., a zero-force state), so that the telecentric fixed point of the puncture device at the tail end of the operating arm can be dragged to perform movement in a two-dimensional plane by means of the interaction force at the abdominal cavity wall in the process of moving the table surface of the operating table, and the motion compensation of passively changing the gesture of the puncture device by controlling the joint J5 to perform the motion quantity which is the same as that of the joint J8 and has the opposite direction is performed, so that the gesture of the puncture device is kept unchanged relative to the table surface of the operating table.
The gesture registration process is to passively execute the tracking of the position change of the puncture device caused by the movement of the translational degree of freedom based on the first joint when responding to the translational movement of the table top of the operation table in the translational degree of freedom, obtain the gesture registration relationship based on software operation, and realize gesture positioning between the operation robot and the operation table without using any external positioning sensor, thereby having low cost and high efficiency.
After the gesture registration process is finished, if the table top of the current operation table is moving in the translational degree of freedom based on the command of the translational degree of freedom, the gesture registration relation can be stored, and when the table top of the operation table is moving in the gesture degree of freedom based on the command of the gesture degree of freedom, the gesture of the puncture device is adjusted by actively controlling the driving arm based on the gesture registration relation between the operation robot and the operation table. After the above-mentioned posture registration process is completed, if the table top of the current operation table is moving in the posture degree of freedom based on the command of the posture degree of freedom movement, the posture of the puncture device can be adjusted by starting to actively control the driving arm based on the posture registration relationship between the operation robot and the operation table. Therefore, based on the acquired posture registration relationship, the operation table can be adjusted under the condition that the docking relationship between the operation robot and the patient is not released, and the operation efficiency and the safety are improved.
Fig. 8 is a flow chart illustrating a control method of a surgical robot according to another embodiment. The control method of the surgical robot of the present embodiment is applicable to the surgical robots of fig. 1 and 2, and also to other types of surgical robots, such as single-hole surgical robots. The surgical robot comprises a drive arm with a plurality of joints, the distal end of which is provided with a puncture device for insertion into a body opening of a patient lying on the table top of the operating table. As shown in fig. 8, a control method of a surgical robot according to an embodiment includes:
step S10, responding to the movement of the table top of the operating table in the attitude degree of freedom, and acquiring the movement information of the table top of the operating table in the attitude degree of freedom;
and step S20, determining a target joint amount of a third joint in the plurality of joints based on the motion information and the target posture registration relation, and controlling the third joint to move according to the target joint amount so as to maintain the posture of the puncture device relative to the table surface of the operating table in the posture degree of freedom.
The target posture registration relationship between the surgical robot and the surgical bed adopts the posture registration relationship acquired in the embodiment, and may be the first posture registration relationship or the third posture registration relationship. By the mode, the gesture of the puncture device can be adjusted by actively controlling the driving arm based on gesture registration information between the surgical robot and the operating table when the table top of the operating table moves in a gesture degree of freedom, so that the operating table can be adjusted without releasing the butting relation between the surgical robot and a patient, and the operating efficiency and the safety are improved.
Wherein, the posture freedom degree refers to the inclined movement of the table top of the operation table around the axis parallel to the length direction of the table top or the inclined movement of the table top around the axis vertical to the length direction of the table top, when the table top of the operation table performs the posture freedom degree movement, the body opening (telecentric fixed point) of the patient generates the position movement when the operation table performs the posture freedom degree movement, so the puncture device also needs to perform the posture (including the position and the posture) change. The motion information of the table top of the operation table in the posture degree of freedom includes a rotation direction and a rotation angle, the motion information is transmitted to the operation robot as a target motion direction and an angle of the puncturing device around the telecentric fixed point, thereby determining a target joint amount of a first joint, which may be one joint or a plurality of joints, of the plurality of joints of the driving arm, taking the tilting motion B4 shown in fig. 2 as an example, according to the motion information of the operation table top, the rotation joints J10 and J11 are reversely solved based on the operation robot kinematic model to obtain a unique inverse solution, and the puncturing device 229 is controlled to perform the same rotation motion as the operation table top around the telecentric fixed point 220.
In the process of adjusting the posture of the table top of the operating table, the table top of the operating table can also change in position, including translation and lifting of the table top. Because the adjustment of the puncture device is related to the adjustment of the table top of the operating table, in the process of adjusting the gesture of the puncture device, the puncture device can translate and lift along with the position change of the telecentric fixed point. Thus, the method of the present embodiment further comprises:
In response to movement of the table top of the surgical table in the pose degrees of freedom, a target joint of the plurality of joints that is adjusted in association with the position degrees of freedom is controlled to allow the drive arm to track the position of the body opening based on forces exerted by the body wall at the body opening of the patient through the target joint.
Wherein the translation and lifting of the puncturing device caused when adjusting the posture is performed passively based on the forces exerted by the body wall at the body opening of the patient.
Specifically, the positional degrees of freedom include a lifting degree of freedom, controlling a target joint of the plurality of joints that is adjusted in relation to the positional degrees of freedom to allow the drive arm to track a position of the body opening based on a force applied by a body wall at the body opening of the patient by the target joint, comprising:
in response to movement of the table top of the surgical table in the pose degrees of freedom, a fourth joint in the target joint is controlled to be in a zero force state, the fourth joint including a joint having a lifting degree of freedom to allow the drive arm to track movement of the body opening in the lifting degree of freedom based on forces exerted by the body wall of the body opening of the patient through the fourth joint.
Specifically, the positional degrees of freedom include translational degrees of freedom, controlling a target joint of the plurality of joints that is adjusted in association with the positional degrees of freedom to allow the drive arm to track a position of the body opening based on a force applied by a body wall at the body opening of the patient by the target joint, comprising:
Controlling a fifth joint in the target joint to be in a zero force state in response to movement of the table top of the surgical table in the pose degrees of freedom, the fifth joint including a joint having a translational degree of freedom to allow the drive arm to track movement of the body opening in the translational degree of freedom based on forces exerted by the body wall of the body opening of the patient through the fifth joint;
in response to the movement of the fifth joint, a sixth joint movement in the target joint is controlled to compensate for a change in the pose of the puncturing device due to tracking movement of the body opening in the translational degrees of freedom.
In one embodiment, controlling the sixth joint motion in the target joint includes:
acquiring motion information of a third rotary joint in a fifth joint, generating motion information of a fourth rotary joint in a sixth joint based on the motion information of the fifth joint, wherein the motion information of the third rotary joint comprises a motion amount and a motion direction, and the motion information of the fourth rotary joint comprises a motion direction opposite to the motion direction of the third rotary joint and a motion amount which is the same as the motion amount of the third rotary joint;
and controlling the movement of the fourth rotary joint according to the movement information of the fourth rotary joint.
Taking the tilting motion B4 shown in fig. 2 as an example, when the rotation joints J10 and J11 in the manipulator arm 270 are solved reversely based on the kinematic model of the surgical robot to obtain the unique inverse solution, and then the puncture device is controlled to perform the same rotation motion as that of the table surface of the operating table around the telecentric fixed point, each joint of the adjustment arm 270 is in a non-motion locking state, wherein the motion compensation of the gesture passive change of the puncture device caused by the rotation motion of the manipulator arm 270 is performed by controlling the joint J5 to have the motion of the same magnitude and opposite direction as that of the J8, so that the gesture of the puncture device is kept unchanged relative to the table surface in the process of linking the gesture degrees of freedom. In addition, joints J6, J7 and J8 of the adjustment arm 270 are in a zero force drag mode (i.e., a zero force state), thereby enabling the distal puncturing device distal to the actuator arm to perform movement in a two-dimensional plane by virtue of the interaction forces at the abdominal wall during movement of the table top of the surgical table.
It should be noted that, during the execution of the tilting motion B3, each joint of the mechanical arm 250 is in a motion locking state, and the linkage form of the adjusting arm 260 and the manipulator arm 270 is the same as that of the tilting motion B4, which is different in that the rotation axes of the tilting motion B3 and the tilting motion B4 are perpendicular to each other, and the rotation matrices of the table top motion related to the table top motion in the kinematic model used during the linkage calculation are different due to the rotation matrices of the table top motion rotating around different axes, so that the gesture of the puncture state remains unchanged relative to the table top of the operating table during the linkage of the tilting motion B3.
In addition, when the motion of the attitude degree of freedom is not performed, the table top of the operating table can also independently perform the motion of the lifting degree of freedom. The method of the embodiment further comprises: in response to movement of the table top of the operating table in the lifting degree of freedom, movement information of the table top of the operating table in the lifting degree of freedom is obtained, a target joint amount of a seventh joint for driving the driving arm is determined based on the movement information of the table top of the operating table in the lifting degree of freedom, and movement of the seventh joint is controlled according to the target joint amount so as to maintain the position of the puncture device relative to the table top of the operating table in the lifting degree of freedom. The movement information of the table top of the operating table in the lifting degree of freedom includes a movement direction and a movement amount, taking the lifting movement B2 shown in fig. 2 as an example, the seventh joint for driving the driving arm may be the lifting upright 204 of the mechanical arm 250, so as to drive the driving arm to integrally lift without adjusting the joint with the lifting degree of freedom in the driving arm, thereby avoiding that the joint with the lifting degree of freedom in the driving arm moves to a limit position to affect the subsequent movement, and other movement joints of the mechanical arm 250 except the lifting upright 204 and all movement joints of the driving arm (the adjusting arm 260 and the manipulator 270) are in a movement locking state, so that the gesture of the moving puncturing device 229 is always kept in a static state relative to the patient position. In some embodiments, the seventh joint for driving the driving arm may also be the moving vertical arm 211 of the adjusting arm 260 for performing the up-down movement J7. In some embodiments, the seventh joint for driving the driving arm may be a combination of the lifting upright 204 and the moving upright 211.
When the motion of the attitude degree of freedom is not performed, the table top of the operating table can also independently perform the motion of the translational degree of freedom. The method of the embodiment further comprises: controlling an eighth joint in the target joint to be in a zero force state in response to movement of the table top of the surgical table in the translational degree of freedom, the eighth joint including a joint having the translational degree of freedom to allow the drive arm to track movement of the body opening in the translational degree of freedom based on forces exerted by the body wall of the body opening of the patient through the eighth joint; in response to the movement of the eighth joint, a ninth joint movement in the target joint is controlled to compensate for a change in the pose of the puncturing device due to tracking the movement of the body opening in the translational degrees of freedom. Wherein controlling the ninth joint movement in the target joint includes: acquiring motion information of a fifth rotary joint in the eighth joint, generating motion information of a sixth rotary joint in the ninth joint based on the motion information of the fifth rotary joint in the eighth joint, the motion information of the fifth rotary joint in the eighth joint including a motion amount and a motion direction, the motion information of the sixth rotary joint in the ninth joint including a motion direction opposite to the motion direction of the fifth rotary joint in the eighth joint and a motion amount equal to the motion amount of the fifth rotary joint in the eighth joint; and controlling the movement of the sixth rotary joint in the ninth joint according to the movement information of the sixth rotary joint in the ninth joint. Taking the example of the fore-and-aft translational movement B1 shown in fig. 2, each joint of the robot arm 250 and the manipulator arm 270 is in a movement lock state, the lifting movement J7 of the adjustment arm 260 is also in a movement lock state, and the remaining movements J5, J6, and J8 of the adjustment arm 260 are all in a zero force drag mode. In the movement process of the table top of the operating table, by means of the interaction force between the puncturing device 229 and the body wall of the body opening of the patient at the telecentric fixed point 220, the table top drags the operating arm 270 to drive the telecentric fixed point 220 to perform translational movement, and the movement of J5 and J8 is controlled to be equal in size and opposite in direction based on the kinematic model, so that the gesture of the puncturing device 229 in the movement process can be kept unchanged.
In this way, it is possible to allow the piercing means and/or medical instrument mounted at the end of the surgical robot to remain inserted in the patient during simultaneous movement of the surgical bed and the surgical robot, without the need to detach the piercing means and/or medical instrument in use from the end of the surgical robot and remove it completely from the patient before the movement of the surgical bed, or without the need to completely break all the contact between the surgical robot and the surgical bed and drag the robotic arm to release the movable space for the surgical bed. According to the control method, tedious operation of repeated butt joint between the surgical robot and the operating table is eliminated, the surgical time is shortened, the execution smoothness of the whole set of surgery is improved, in addition, active control is realized in the attitude degree of freedom, friction to the body wall of a patient is reduced, and the safety is improved. In addition, in the process of executing the linkage of the surgical robot and the operating table, a doctor of the main control console is allowed to observe and monitor the movement condition of the organ of the patient and the posture keeping condition of the surgical instrument and the imaging instrument in the window in real time through the images acquired by the imaging instrument, the expected posture process can be reached in the shortest time, and the safety and the fluency of the executing process are ensured.
In the linkage process, the control method of the application further comprises the following steps:
acquiring an image acquired by an imaging instrument in the process of controlling the driving arm according to the movement of the table top of the operating table in a preset degree of freedom;
in response to identifying that the target area in the image meets a third preset condition, sending a control instruction to the operating table, wherein the control instruction comprises an instruction for controlling at least one of delay adjustment, stop adjustment and deceleration adjustment of the operating table; wherein,
meets a third preset condition, and comprises at least one of the following:
identifying a target surgical site or a marker associated with the target surgical site in the target region;
the target surgical site is in a preset pose in the target zone.
The preset degrees of freedom comprise at least one of translational degrees of freedom, lifting degrees of freedom and attitude degrees of freedom, and the process of controlling the driving arm according to the movement of the table top of the operating table in the preset degrees of freedom, namely the process of linkage between the operating robot and the operating table is performed. The target area is an area marked in the image display area in advance, and comprises an area which a doctor desires to pay attention to in the image display area, such as a middle area of the image display area or any area which desires to be identified, and can also be the whole image display area, the position of the target area in an image acquired by an imaging instrument is kept unchanged during the movement of the table surface of the operating table, and the target area can also be marked again under the operation of the doctor. The image display area can be marked before or during the linkage, and in addition, the characteristic area can be marked in the real anatomical structure of the patient before the linkage, for example, the characteristic area can be marked by fluorescence and the like, so that the real mark can be identified during the linkage. When the target area in the image is identified to be in accordance with the condition, the delay adjustment, the stop adjustment or the deceleration adjustment of the operating table can be controlled, so that a doctor can conveniently observe whether the expected operation position reaches the expected position or posture. For delay adjustment and deceleration adjustment, the doctor can trigger an instruction to stop adjustment when confirming that the expected operation position meets the condition, or the operating table resumes the original linkage when other instructions are not received for longer than the preset time.
In some embodiments, "identifying a target surgical site in or associated with a target surgical site" of one of the third preset conditions may include detecting that a proportion of the target surgical site falling within the target region of the currently acquired image during the linkage process reaches a preset value for the target region, e.g., the proportion of the target surgical site falling within the target region of the currently acquired image reaches more than 70% of the target region; for another example, the target surgical site falls entirely within the target region of the currently acquired image; the method further comprises detecting that the number of marks associated with the target surgical site in the linkage process fall into the target area of the currently acquired image and/or the proportion of the number of marks falling into the target area to the total number of marks reaches a preset value, for example, the number of marks associated with the target surgical site is 10, wherein 7 marks fall into the target area of the currently acquired image, for example, 10 marks fall into the target area of the currently acquired image, and for example, more than 6 marks fall into the target area of the currently acquired image.
In some embodiments, the "the target surgical site is in the preset pose in the target area" of one of the third preset conditions means that the target surgical site is recognized in the target area of the image and the pose of the target surgical site in the target area meets the set recognition conditions, such as tilting left, tilting right, opening, etc., so as to have a better surgical field. When the table top of the operating table moves, the target operating position changes the gesture relative to the imaging instrument according to the table top movement of the operating table, the gesture reflected in the image of the imaging instrument changes, whether the target operating position and the current gesture thereof meet the set recognition conditions can be recognized through recognition of the image, and when the target operating position is recognized in the target area and the gesture of the target operating position in the image meets the set recognition conditions, the target operating position is considered to be in the preset gesture in the target area.
In the linkage process, the control method of the application further comprises the following steps:
in the process of controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom, the orientation alignment between the operating part and the medical instrument is carried out in response to the change of the orientation between the operating part of the operating robot and the medical instrument arranged at the distal end of the driving arm.
The change of the orientation between the operation part of the surgical robot and the medical instrument arranged at the distal end of the driving arm includes two cases, one is that no orientation relation is established before linkage, the orientation relation is established in the linkage, and the other is that the orientation relation is changed along with the progress of the linkage. The operation part comprises a first operation part and a second operation part, the medical instrument comprises a first medical instrument and a second medical instrument, and the first operation part and the second operation part do not establish mapping with the first medical instrument and the second medical instrument before linkage, and in the linkage process, the first operation part establishes mapping with the first medical instrument, so that an orientation relation is established; corresponding to the second case, if the first operation portion and the first medical instrument are mapped before linkage, and the first operation portion is switched to be mapped with the second medical instrument during linkage, the orientation relationship is changed. That is, the change in the orientation relationship is generally derived from the change in the mapping relationship.
The process of aligning the orientation between the operation part and the medical instrument may be that a first posture of the medical instrument mapped by the operation part in an imaging instrument coordinate system is obtained, the first posture is converted into a second posture of the operation part in a display coordinate system of a display, a target joint amount of a joint in the operation part is determined based on the second posture, and corresponding joint movement in the operation part is driven according to the target joint amount of the joint in the operation part, so that the posture of the operation part is consistent with the posture of the medical instrument, and the alignment between the operation part and the medical instrument is completed. By achieving alignment of the orientation of the operating portion to the posture of the associated medical instrument during the linkage, surgical preparation time is facilitated to be saved.
In the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded and stored in real time, and if the linkage instruction of one degree of freedom is received again after the linkage of the other degree of freedom is completed, the next linkage process is allowed to be continuously executed without executing the motion joints halfway to return to the initial starting position. In addition, the screen of the doctor main console displays the linkage state between the current operation robot and the electric operation bed, and if abnormality occurs, the linkage process can be terminated in time according to the written program instruction.
In order to ensure smooth operation of the linkage process of the surgical robot and the operating table, the control method of the embodiment further comprises:
judging whether the surgical robot and/or the operating table meets a second preset condition or not before the driving arm is controlled according to the movement of the table top of the operating table in the preset degree of freedom;
if the second preset condition is met, controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
meets a second preset condition, and comprises at least one of the following:
the surgical robot is in butt joint with the patient;
the base of the surgical robot and the base of the operating table are in a motion locking state;
the main operation table of the surgical robot is in a state of allowing the surgical robot to enter a surgical operation;
the communication connection between the surgical robot and the surgical bed is in a normal state;
the movable range of each joint in the driving arm is in a preset movable range.
The preset degrees of freedom comprise at least one of attitude degrees of freedom, translation degrees of freedom and height degrees of freedom. The determining process regarding whether the second preset condition is met may be specifically as follows:
it is in motion locking state about the base of the surgical robot and the base of the operating table. Referring to fig. 2 together, a motion chassis 201 (i.e., a base) of the surgical robot, a wheel chassis 227 (i.e., a base) of the surgical bed is in a motion locking state, so as to ensure that no motion is generated during the operation and during the linkage, whether the base of the surgical robot and the base of the surgical bed are in the motion locking state can be determined by detecting the motion locking state through a locking sensor on the base, or after the operation is performed by medical auxiliary personnel, information input for confirming the locking is performed on the surgical bed or an operation interface on the surgical robot;
Regarding whether the communication connection between the surgical robot and the operating table is in a normal state. After the communication connection between the surgical robot and the surgical bed is established, the surgical bed or a communication detection program on the surgical robot can be operated, and whether the communication connection between the surgical robot and the surgical bed is in a normal state or not is determined according to the detection result so as to monitor the working states and joint movement information of the surgical robot and the surgical bed;
regarding whether the surgical robot is docked with the patient. The patient is stably fixed on the table top of the operating table by the relative fixing equipment for checking the patient and the table top of the operating table, so that the patient is ensured not to slide greatly relative to the table top of the operating table after the body position is changed, and the linkage between the operating robot and the operating table is prevented. When the surgical robot is docked with a patient, medical auxiliary staff can be allowed to execute the desired directional positioning through the adjusting mechanical arm 250, the adjusting arm 260 and the manipulator arm 270 according to the surgical requirements of the surgery, and the operation is performed so that surgical instruments and imaging instruments arranged at the distal end of the driving arm of the surgical robot are in a state of being inserted into the patient, and after the operation is completed, information input for confirming the docking is performed on an operation interface on an operation table or the surgical robot;
Whether the movable range of each joint in the driving arm is within a preset movable range. The preset movement range includes a central region of a maximum movement range of each joint in the driving arm, and the preset movement range includes at least one of an angular movement range and a linear movement range, for example, the maximum angular movement range is-90 ° to 90 °, and the preset movement range may be-45 ° to 45 °. In the non-limiting area of the respective movement ranges, the center area of the movement range is the optimal position, so that the unexpected phenomenon that the movement is forced to be terminated due to the fact that the joint reaches the limiting position before the movement is not completed is avoided, and therefore the movable range of each joint needs to be judged before the linkage is started, for example, whether the movable range of the joint is in the preset movement range is judged by detecting the current position and angle of the joint;
regarding whether the main operation table of the surgical robot is in a state of allowing access to the surgical operation, whether the main operation table of the surgical robot allows access to the surgical operation can be determined based on the detection result by detecting whether the orientation between the operation portion of the surgical robot and the medical instrument mounted at the distal end of the driving arm is aligned and other conditions that require satisfaction of the operation.
After the equipment preparation before the operation is finished, medical auxiliary personnel can trigger a command of entering a linkage mode in the operation table, wherein the linkage mode refers to that the operation robot controls a driving arm according to the movement of the table top of the operation table in a preset degree of freedom, so that the position and the posture of the puncture device relative to the table top of the operation table are kept unchanged. After the command of entering the linkage mode is triggered, the controller of the operating table sends a command request for starting linkage to the control system of the surgical robot in a wired or wireless mode (such as infrared transmission), at this time, the surgical robot makes accurate judgment about the second preset conditions according to the program instruction written in the surgical robot, if the second preset conditions are all met, the controller is allowed to enter the linkage mode, if one or more of the second preset conditions cannot be met, the linkage request can be sent again until the second preset conditions are all met, and the controller is allowed to enter the linkage mode. If the process of judging the second preset condition and the time for sending the linkage request in the iterative loop process exceed the set time in the system, the request process of entering the linkage mode is forced to be terminated and exits.
After entering the linkage mode, firstly carrying out gesture registration on the surgical robot and the operating table, if the registration is successful, feeding back and displaying registration success signals through readable media (such as a signal lamp with changeable colors) on a doctor main console can be allowed for a doctor to know in time, so that the doctor and medical auxiliary staff are prompted to continuously execute next instructions; if the registration is unsuccessful, the next linkage command of the linkage mode cannot be entered, and meanwhile, the doctor main console has a signal prompt message that the readable medium presents a striking color (such as red), and the next step is not allowed until the registration is successful.
After the registration is successful, the linkage is allowed to start, and in order to ensure the safety of the linkage process of the surgical robot and the operating table, the control method of the application can further comprise the following steps:
judging whether the surgical robot accords with a first preset condition or not in the process of controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom;
if the first preset condition is not met, stopping controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
meets a first preset condition, and comprises at least one of the following:
the puncture device is in a preset state with the position of the body opening;
the medical instrument arranged at the distal end of the driving arm is in a preset state with the position of the surgical site;
the movable range of each joint in the driving arm is in a preset movable range.
The control method for the surgical robot in the linkage process refers to the above, and in the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded and stored in real time, and whether the surgical robot meets the first preset condition is monitored in real time. Whether the puncture device and the body opening are in a preset state or not can be judged by identifying the image acquired by the imaging instrument arranged at the distal end of the driving arm, and if the situation that the operation area is partially or completely disappeared in the image occurs, the puncture device and the body opening can be judged to have larger relative movement and are not in the preset state. Whether the medical instrument arranged at the distal end of the driving arm is in a preset state or not with the position of the surgical site can be judged by identifying the image acquired by the imaging instrument arranged at the distal end of the driving arm, if the relative distance or angle between the medical instrument and the surgical site changes by more than a certain threshold value, the medical instrument can be judged to have larger relative movement with the position of the surgical site and is not in the preset state. In addition, in the linkage process, the involved motion joints are in non-limiting areas in the respective motion ranges, and the center area of the motion range of the joint is the optimal position, so that the unexpected phenomenon that the motion is forced to be terminated due to the fact that the joint reaches the limiting position before the motion is completed is avoided, and therefore, whether the movable range of the joint is in the preset motion range can be judged by detecting the current position and the angle of the joint.
In some embodiments, when the first preset condition is not met, the driving arm is stopped according to the movement control of the table top of the operation table in the preset degree of freedom, the instruction may also be generally sent to stop the movement control of the table top of the operation table in the preset degree of freedom.
Before the position and posture of the table top of the operating table reach the target position and posture, the movement of the table top of the operating table only executes the movement command operated by the keys of the medical auxiliary personnel in the movement command area of the operating table controller, if one key command is continuously pressed for a plurality of times in the execution process, the system only executes the first key command and automatically shields the repeated action request in the program. In addition, if a key command is executing while pressing other motion command function keys, the system will continue executing motion instructions that have not yet ended and automatically mask other key requests in the process. After the position of the operating bed reaches the target position, the motion command executed automatically ends and is in a state of waiting for the next operation command, if a new motion command needs to be continuously executed, a key for executing the motion needs to be pressed again, and a motion request is sent to the system again. And after the linkage is finished, the exiting function key is operated to exit the linkage mode, and after the linkage mode is exited, the system is automatically switched back to the normal master-slave operation mode and is in a state of waiting for the next operation command.
Fig. 9 is a schematic view of an operating table panel according to an embodiment. The operation panel 600 includes, but is not limited to, a display area such as a screen display area 801, a mode switching function area 802, a movement instruction area 803, and an operation area. The screen display area 801 further includes, but is not limited to, the current state of the operating table, the movement ranges of the joints, the current movement instructions executed by the table top, data connection and registration success signals, etc., so that medical auxiliary personnel can view and grasp the current various movement states of the operating table through the screen display information at any time, and provide accurate current information for the next key operation, thereby effectively avoiding misoperation. The mode switch function field 802 further includes, but is not limited to, a register key, a stop key, a back-out key, a lock and unlock key. The registration key is used for executing all registration of the surgical robot and the surgical bed in each motion degree, and waiting for executing the next operation command. The stop button is used for stopping the linkage action among the joints in the midway blocking control procedure and maintaining the motion state at the stop moment until the next operation command starts to be executed. The exit button is used for switching from the linkage mode to the normal master-slave operation mode after linkage is finished. The locking and unlocking keys are used for stopping and releasing the motion of the surgical robot and the wheeled chassis of the operating table before and after the operation. The motion command area 803 further includes, but is not limited to, keys displayed on the operation panel in fig. 9, each key defining a motion command of each degree of freedom with respect to a reference coordinate system of the operating table as a motion reference coordinate system, and the number of keys is determined according to the number of degrees of freedom of the operating table allowed to perform motion in the linkage mode.
The control method of the surgical robot comprises the following steps: responding to the movement of the table top of the operating table in the attitude degree of freedom, and acquiring the movement information of the table top of the operating table in the attitude degree of freedom; and determining a target joint amount of a third joint of the plurality of joints based on the motion information and the target posture registration relationship, and controlling the third joint to move according to the target joint amount so as to maintain the posture of the puncture device relative to the table top of the operation table in the posture degree of freedom. According to the gesture registration information control method and device, gesture registration information between the surgical robot and the operating table can be based, and when the table top of the operating table moves in the gesture degree of freedom, the driving arm is actively controlled to adjust the gesture of the puncture device, so that the operation efficiency and safety are improved.
The control method of the application also has the following beneficial effects:
(1) the linkage between the surgical robot and the operating table can be realized, tedious repeated butt joint operations such as removing the puncture device and/or the surgical tool (such as surgical instrument and imaging instrument) from the body of a patient, detaching and installing the surgical tool at the tail end of the surgical robot, relieving all contact between the surgical robot and the operating table and the like are eliminated in the linkage process, the working intensity of medical auxiliary personnel is reduced, the intelligent level of the surgical robot system is improved, the surgical time is shortened, and the smoothness of surgical implementation is improved;
(2) The linkage between the surgical robot and the operating table can be realized only by adopting a gesture positioning mode, the application implementation mode is simple, and the reliability is higher.
The present application also provides a control device of a surgical robot, as shown in fig. 10, which includes 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 (Application Specific 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 specifically used to load and execute steps of implementing the pose registration method of the surgical robot and/or the control method of the surgical robot as described in the above embodiments by the processor 501.
The present application also provides a surgical robot comprising a drive arm having a plurality of joints, the distal end of the drive arm being provided with a piercing device for insertion into a body opening of a patient lying on a table top of a surgical bed;
the surgical robot further comprises control means for performing the steps of implementing the method of registration of the pose of the surgical robot and/or the method of control of the surgical robot as described in the embodiments above.
The application also provides a surgical system comprising a surgical bed and a surgical robot as described in the above embodiments, the surgical robot being in communication with the surgical bed, the table top of the surgical bed being adjustable in one or more degrees of freedom.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the pose registration method of a surgical robot and/or the steps of the control method of a surgical robot as described in the above embodiments.
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 above-described embodiments have versatility in terms of various technical features and combinations of any technical features, which are applicable not only to single-hole surgical robots but also to multi-hole surgical robots, and which do not affect nor limit use in robotic arms having different configurations.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (18)

1. A method of pose registration for a surgical robot, the surgical robot comprising a drive arm having a plurality of joints, a distal end of the drive arm being provided with a piercing device for insertion into a body opening of a patient lying on a table top of a surgical bed, the method comprising:
Controlling a first joint of the plurality of joints to be in a zero force state, the first joint comprising a joint having a translational degree of freedom to allow the drive arm through the first joint to track movement of the body opening in the translational degree of freedom based on a force applied by a body wall of the body opening of the patient;
in response to translational movement of the table top of the surgical bed in translational degrees of freedom,
acquiring a first position of the puncturing device at a first time and acquiring a second position of the puncturing device at a second time adjacent to the first time during the first joint passively performing tracking of the movement of the body opening in the translational degree of freedom;
a first pose registration relationship between the surgical robot and the surgical bed is determined based on the first position and the second position.
2. The method according to claim 1, wherein the method further comprises:
acquiring a third position of the puncturing device at a third time adjacent to the second time during passive execution of the tracking motion of the body opening in the translational degree of freedom by the first joint;
determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position;
And when the first posture registration relation and the second posture registration relation meet a preset condition, determining a third posture registration relation between the surgical robot and the surgical bed based on one or more of the first posture registration relation and the second posture registration relation.
3. The method of claim 1 or 2, wherein the translational movement comprises at least one of a translational movement that commands movement of a table top of the surgical table in translational degrees of freedom, and a translational movement that commands movement of a table top of the surgical table in translational degrees of freedom caused by movement of the table top of the surgical table in a pose degree of freedom.
4. The method of claim 2, wherein the obtaining a first position of the lancing device at a first time comprises:
acquiring joint variables of the joints at the first moment, and determining the first position based on the joint variables and by using positive kinematics;
the acquiring a second position of the puncture device at a second time adjacent to the first time comprises:
acquiring joint variables of the plurality of joints at the second moment, and determining the second position based on the joint variables and using positive kinematics;
The acquiring a third position of the puncture device at a third time adjacent to the second time comprises:
acquiring joint variables of the joints at the third moment, and determining the third position based on the joint variables and using positive kinematics.
5. The method according to claim 2, wherein the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed each comprise a two-dimensional horizontal coordinate system, and the horizontal plane of the base of the surgical robot and the horizontal plane of the base of the surgical bed are parallel or coincident with each other; the determining a first pose registration relationship between the surgical robot and the surgical bed based on the first position and the second position, comprising:
determining a first displacement component of the puncture device on a first horizontal coordinate axis of a two-dimensional horizontal coordinate system of the surgical robot and a second displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to coordinates of the first position and the second position in the two-dimensional horizontal coordinate system of the surgical robot;
according to the first displacement component and the second displacement component, calculating a first rotation angle value between a reference coordinate system of the surgical robot and a reference coordinate system of the operating table on a horizontal plane to obtain a first posture registration relationship between the surgical robot and the operating table;
The determining a second pose registration relationship between the surgical robot and the surgical bed based on the second position and the third position, comprising:
determining a third displacement component of the puncture device on a first horizontal coordinate axis of a two-dimensional horizontal coordinate system of the surgical robot and a fourth displacement component on a second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot according to coordinates of the second position and the third position in the two-dimensional horizontal coordinate system of the surgical robot;
and calculating a second rotation angle value on a horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table according to the third displacement component and the fourth displacement component so as to obtain a second posture registration relationship between the surgical robot and the operating table.
6. The method according to claim 2 or 5, wherein the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed each comprise a two-dimensional horizontal coordinate system, and the horizontal plane of the base of the surgical robot and the horizontal plane of the base of the surgical bed are parallel or coincident with each other; the first posture registration relationship is characterized by adopting a first rotation angle value on a horizontal plane between a reference coordinate system of the surgical robot and a reference coordinate system of the surgical bed, and the second posture registration relationship is characterized by adopting a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical bed; when the first posture registration relationship and the second posture registration relationship meet a preset condition, determining a third posture registration relationship between the surgical robot and the surgical bed based on one or more of the first posture registration relationship and the second posture registration relationship, including:
Judging whether the difference value between the first rotation angle value and the second rotation angle value is in a preset range or not;
and if the first rotation angle value is in the preset range, taking the first rotation angle value as the third posture registration relation, or taking the second rotation angle value as the third posture registration relation, or taking the average value of the first rotation angle value and the second rotation angle value as the third posture registration relation.
7. The method of claim 1, wherein after the step of controlling a first joint of the plurality of joints to be in a zero force state, the method further comprises:
in response to translational movement of the table top of the surgical table in a translational degree of freedom, controlling movement of a second joint of the plurality of joints to compensate for a change in pose of the lancing device due to the first joint passively performing movement to track the translational degree of freedom.
8. The method of claim 7, wherein the controlling the second joint motion of the plurality of joints comprises:
acquiring motion information of a first rotary joint in the first joints, generating motion information of a second rotary joint in the second joints based on the motion information of the first rotary joint in the first joints, wherein the motion information of the first rotary joint in the first joints comprises a motion amount and a motion direction, and the motion information of the second rotary joint in the second joints comprises a motion direction opposite to the motion direction of the first rotary joint in the first joints and a motion amount which is the same as the motion amount of the first rotary joint in the first joints;
And controlling the movement of the second rotary joints in the second joints according to the movement information of the second rotary joints in the second joints.
9. A control method of a surgical robot, characterized in that the surgical robot includes a driving arm having a plurality of joints, a puncture device is mounted at a distal end of the driving arm, the puncture device is for insertion into a body opening of a patient lying on a table top of an operation table, and a posture registration relationship obtained by using any one of claims 1 to 8 is used as a target posture registration relationship between the surgical robot and the operation table, the method comprising:
responding to the movement of the table top of the operating table in the attitude degree of freedom, and acquiring the movement information of the table top of the operating table in the attitude degree of freedom;
and determining a target joint amount of a third joint in the plurality of joints based on the motion information and the target posture registration relationship, and controlling the third joint to move according to the target joint amount so as to maintain the posture of the puncture device relative to the table top of the operating table in the posture degree of freedom.
10. The method according to claim 9, wherein the method further comprises:
A target joint of the plurality of joints that is adjusted in association with a positional degree of freedom is controlled in response to movement of a table top of the surgical bed in a gestural degree of freedom to allow the drive arm to track a position of the body opening based on a force exerted by a body wall at the body opening of the patient through the target joint.
11. The method according to claim 9 or 10, characterized in that the method further comprises:
judging whether the surgical robot accords with a first preset condition or not in the process of controlling the driving arm according to the movement of the table top of the surgical bed in the preset degree of freedom;
if the first preset condition is not met, stopping controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
the meeting the first preset condition comprises at least one of the following:
the puncture device is in a preset state with the position of the body opening;
the medical instrument arranged at the distal end of the driving arm is in a preset state with the position of the surgical site;
the movable range of each joint in the driving arm is in a preset movable range.
12. The method according to claim 9 or 10, characterized in that the method further comprises:
Judging whether the surgical robot and/or the surgical bed accords with a second preset condition or not before the driving arm is controlled according to the movement of the table top of the surgical bed in the preset degree of freedom;
if the second preset condition is met, controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom; wherein,
the meeting of the second preset condition comprises at least one of the following:
the surgical robot interfaces with a patient;
the base of the surgical robot and the base of the operating table are in a motion locking state;
the main operation table of the surgical robot is in a state of allowing the surgical robot to enter a surgical operation;
the communication connection between the surgical robot and the operating table is in a normal state;
the movable range of each joint in the driving arm is in a preset movable range.
13. The method of claim 9 or 10, wherein the distal end of the drive arm is provided with an imaging instrument that passes through the puncturing device into the body of the patient, the method further comprising:
acquiring an image acquired by the imaging instrument in the process of controlling the driving arm according to the movement of the table top of the operating table in a preset degree of freedom;
In response to identifying that a target area in the image meets a third preset condition, sending a control instruction to the operating table, wherein the control instruction comprises an instruction for controlling at least one of delay adjustment, stop adjustment and deceleration adjustment of the operating table; wherein, the meeting the third preset condition includes at least one of the following:
identifying a target surgical site or a marker associated with the target surgical site in the target region;
the target surgical site is in a preset pose in the target zone.
14. The method according to claim 9 or 10, wherein the surgical robot further comprises an operating portion, the distal end of the drive arm being provided with a medical instrument, the method further comprising:
in the process of controlling the driving arm according to the movement of the table top of the operating table in the preset degree of freedom, the orientation of the operating part is aligned with the orientation of the medical device in response to the change of the orientation between the operating part of the operating robot and the medical device arranged at the far end of the driving arm.
15. A control device for a surgical robot, comprising:
a memory for loading and executing a computer program;
A processor for loading and executing the computer program;
wherein the computer program is loaded by the processor and executes the steps of implementing a method of pose registration of a surgical robot according to any of claims 1 to 8 and/or implementing a method of control of a surgical robot according to any of claims 9 to 14.
16. A surgical robot comprising a drive arm having a plurality of joints, the distal end of the drive arm being provided with a piercing device for insertion into a body opening of a patient lying on a table top of a surgical bed;
the surgical robot further comprises control means for performing the steps of implementing the method of pose registration of the surgical robot according to any of claims 1 to 8 and/or implementing the method of control of the surgical robot according to any of claims 9 to 14.
17. A surgical system comprising a surgical bed and the surgical robot of claim 16 communicatively coupled to the surgical bed, the table top of the surgical bed being adjustable in one or more degrees of freedom.
18. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method of pose registration of a surgical robot according to any of claims 1 to 8 and/or the steps of the method of control of a surgical robot according to any of claims 9 to 14.
CN202210769952.4A 2022-07-01 2022-07-01 Surgical robot and posture registration method and control method thereof Pending CN117357256A (en)

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CN202210769952.4A CN117357256A (en) 2022-07-01 2022-07-01 Surgical robot and posture registration method and control method thereof
PCT/CN2023/099414 WO2024001725A1 (en) 2022-07-01 2023-06-09 Surgical system, control method, and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210769952.4A CN117357256A (en) 2022-07-01 2022-07-01 Surgical robot and posture registration method and control method thereof

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