CN117503370A

CN117503370A - Surgical robot control method, device, electronic equipment and storage medium

Info

Publication number: CN117503370A
Application number: CN202311702642.1A
Authority: CN
Inventors: 王超; 庞海峰; 张喜涛; 修洪伟; 苏衍宇
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2023-12-12
Filing date: 2023-12-12
Publication date: 2024-02-06

Abstract

The embodiment of the invention discloses a surgical robot control method, a surgical robot control device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a current actual position of a motor on a slave arm of the surgical robot at the starting time of a current running period, and determining the theoretical speed of the motor in the current running period under the condition that the preset current theoretical position of the motor exceeds the current actual position; determining the expected speed of the motor in the current running period based on the theoretical speed under the condition that the theoretical speed is smaller than the preset speed threshold value of the motor; generating an operation instruction based on the expected speed, and sending the operation instruction to a motor to control the motor of the surgical robot to start to operate; the theoretical speed is the ratio of the difference between the theoretical ending position corresponding to the ending time of the current operation period and the current theoretical ending position to the duration of the current operation period; the desired speed is greater than the theoretical speed. The technical scheme of the embodiment of the invention can improve the operation stability and operation safety of the operation robot.

Description

Surgical robot control method, device, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of robots, in particular to a surgical robot control method, a surgical robot control device, electronic equipment and a storage medium.

Background

In recent years, along with development of an industrial control technology by an electronic computer, a laparoscopic surgical robot has been rapidly developed and applied. The laparoscopic surgical robot performs the surgical operation mainly by a master-slave mode, so that the consistency of the master and the slave is very important.

In the prior art, the pose of a master hand is mapped to the pose of a slave arm, and then the pose of the slave arm is reversely solved to each motor, so that the theoretical position of each motor is determined. Because the performance of the motor is limited, the theoretical speed is calculated by using the theoretical position, when the theoretical speed is greater than the speed threshold requirement of the motor, the motor is kept to operate according to the speed threshold, and when the theoretical speed is less than or equal to the speed threshold, the motor is operated according to the theoretical speed.

However, in the process of implementing the present invention, it is found that at least the following technical problems exist in the prior art: the operation is carried out according to the speed threshold for a long time, so that the actual position of the motor can not reach the theoretical position forever, the consistency of master and slave between the master hand and the slave arm is lost, and the operation stability and operation safety of the laparoscopic surgery robot are affected.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device, electronic equipment and a storage medium for a surgical robot, so as to achieve the purposes of ensuring consistency between a master arm and a slave arm and improving operation stability and operation safety of the surgical robot.

According to an aspect of the present invention, there is provided a surgical robot control method including:

acquiring a current actual position of a motor on a slave arm of the surgical robot at the starting time of a current running period, and determining the theoretical speed of the motor in the current running period under the condition that the preset current theoretical position of the motor exceeds the current actual position;

determining a desired speed of the motor during the current run period based on the theoretical speed if the theoretical speed is less than a preset speed threshold of the motor;

generating an operation instruction based on the expected speed, and sending the operation instruction to the motor to control the motor of the surgical robot to start operation;

the theoretical speed is the ratio of the difference between the theoretical ending position corresponding to the ending time of the current running period and the current theoretical ending position to the duration of the current running period; the desired speed is greater than the theoretical speed.

According to another aspect of the present invention, there is provided a surgical robot control device including:

the theoretical speed determining module is used for obtaining the current actual position of the motor on the slave arm of the surgical robot at the starting moment of the current running period, and determining the theoretical speed of the motor in the current running period under the condition that the preset current theoretical position of the motor exceeds the current actual position;

a desired speed determining module, configured to determine a desired speed of the motor in the current operation period based on the theoretical speed if the theoretical speed is less than a preset speed threshold of the motor;

an operation instruction generation module for generating an operation instruction based on the desired speed, and transmitting the operation instruction to the motor to control the motor of the surgical robot to start operation;

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the surgical robot control method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the surgical robot control method according to any one of the embodiments of the present invention.

According to the technical scheme, the current actual position of the motor on the slave arm of the surgical robot at the starting time of the current operation period is obtained, and when the preset current theoretical position of the motor exceeds the current actual position, the fact that the master-slave consistency of the surgical robot is lost is explained, and the theoretical speed of the motor in the current operation period is determined; determining the expected speed of the motor in the current running period based on the theoretical speed under the condition that the theoretical speed is smaller than the preset speed threshold value of the motor; generating an operation instruction through the expected speed, and sending the operation instruction to a motor to control the motor of the surgical robot to start to operate; because the expected speed is greater than the theoretical speed, the motor is controlled to operate based on the operation instruction, so that the actual operation speed of the motor is greater than the theoretical speed, the actual position of the motor is more and more close to the theoretical position in the operation process, the gap between the actual position and the theoretical position is reduced, the effect of keeping the theoretical position and the actual position consistent is achieved, the consistency between a master arm and a slave arm is ensured, and the operation stability and the operation safety of the operation robot are improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

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

FIG. 1 is a flow chart of a surgical robot control method provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic illustration of a motor operation process suitable for use in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural view of a surgical robot control device according to an embodiment of the present invention;

fig. 4 is a schematic structural view of an electronic device implementing a surgical robot control method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a flowchart of a surgical robot control method provided according to an embodiment of the present invention. The present embodiment is applicable to controlling the operation of motors on the slave arm of a surgical robot, which method may be performed by a surgical robot control device, which may be implemented in hardware and/or software.

As shown in fig. 1, the method of this embodiment may specifically include:

s110, acquiring the current actual position of the motor on the slave arm of the surgical robot at the starting time of the current operation period, and determining the theoretical speed of the motor in the current operation period under the condition that the preset current theoretical position of the motor exceeds the current actual position.

In a specific implementation, instructions can be periodically sent to each motor on the slave arm of the surgical robot to control the motors to run, so that the surgical operation is completed. For each current operating cycle, the current actual position of the motor at the start time of the current operating cycle may be obtained. It should be noted that the current actual position of the motor may be a rotation angle of the motor at the start time of the current operation period.

In particular, the current theoretical position of the motor at the start of the current operating cycle may be predetermined. The current theoretical position is a target position which is set in the last running period and needs to be reached by the motor. It should be noted that, at the starting time of each operation period, the pose required to be displayed by the slave arm in the operation period can be mapped based on the pose of the master hand, and the target position of the motor in the operation period can be obtained based on the inverse solution of the pose of the slave arm.

In this embodiment, the current theoretical position and the current actual position may be compared. If the current theoretical position is equal to the current actual position, indicating that master-slave consistency exists between the master arm and the slave arm; if the current theoretical position is not equal to the current actual position, the fact that the master-slave consistency of the master hand and the slave arm is lost is indicated, and the operation of the motor is required to be controlled based on the specific position relation between the current theoretical position and the current actual position so as to ensure the master-slave consistency between the master hand and the slave arm.

Specifically, under the condition that the current theoretical position exceeds the current actual position, the motor is limited by a speed threshold, the current theoretical position cannot be reached, and the current operation robot has inconsistent master and slave, so that the theoretical speed of the motor in the current operation period can be determined, and the operation process of the motor in the current operation period can be controlled based on the theoretical speed.

The theoretical speed is the ratio of the difference between the theoretical ending position corresponding to the ending time of the current operation period and the current theoretical ending position to the duration of the current operation period. The ending theoretical position is a target position that the preset motor needs to reach in the current operation period.

And S120, determining the expected speed of the motor in the current running period based on the theoretical speed under the condition that the theoretical speed is smaller than the preset speed threshold value of the motor.

It should be noted that the preset speed threshold may be a speed value set according to the performance of the motor. The desired speed is the desired operating speed of the motor during the current operating cycle. Wherein the desired speed is greater than the theoretical speed. By setting the expected speed greater than the theoretical speed, the motor is accelerated based on the theoretical speed in the running process.

In a specific implementation, it may be determined whether the theoretical speed is less than a preset speed threshold of the motor, and if so, an operation instruction may be generated based on the preset speed threshold and sent to the motor to control the motor to operate according to the preset speed threshold. If the speed is smaller than the preset speed threshold of the motor, the expected speed larger than the theoretical speed can be determined, so that an operation instruction is generated based on the expected speed, the motor can be controlled to operate at a speed larger than the theoretical speed conveniently, and the position difference between the current theoretical position and the current actual position can be reduced as soon as possible.

In the present embodiment, the manner of determining the desired speed of the motor at the current operation cycle based on the theoretical speed includes: determining any speed value which is larger than the theoretical speed and smaller than or equal to a preset speed threshold value as a desired speed; or, increasing the theoretical speed by a preset speed step length to obtain the expected speed of the motor in the current running period.

It should be noted that, a person skilled in the art may determine the preset speed step according to the actual application situation, which is not limited to the embodiment of the present invention.

In this embodiment, in order to ensure the safety of the motor operation, any speed value that is greater than the theoretical speed and less than or equal to the preset speed threshold may be determined as the desired speed. However, when the expected speed is too high, the situation that the actual position of the motor exceeds the theoretical position easily occurs, and in order to improve the stability of the motor in the running process, the expected speed can be determined according to a preset speed step length, so that the stable increase of the speed is realized.

Optionally, the preset speed step is a product of an acceleration threshold of the motor and a period duration. It should be noted that, in order to ensure the safety and stability of the operation of the motor, the acceleration threshold of the motor may be preset based on the performance of the motor, and the acceleration of the motor during the operation may be controlled to be less than or equal to the acceleration threshold of the motor. When the preset speed step length is the product of the acceleration threshold value of the motor and the period duration, the influence of the acceleration threshold value of the motor on the speed increase is considered, so that the increased speed is the allowable increase speed meeting the acceleration threshold value requirement in one period as much as possible, and the performance requirement of the motor is better met when the speed is increased according to the preset speed step length.

And S130, generating an operation instruction based on the expected speed, and sending the operation instruction to a motor to control the motor of the surgical robot to start operation.

Wherein the operation instructions include a position instruction and a speed instruction. In particular implementations, the manner in which the run instructions are generated based on the desired speed includes: generating an operating speed command based on the desired speed; or determining a desired position corresponding to the end time of the current operation period of the motor based on the desired speed, and generating an operation position instruction based on the desired position.

In particular implementations, an operation command may be sent to the motor to control the motor to operate at a speed indicated by the operation command. After the consistency of the master arm and the slave arm is lost, even if the theoretical speed is smaller than or equal to the preset speed threshold value, the position gap between the actual position and the theoretical position of the motor still cannot be eliminated when the motor is controlled to move according to the theoretical speed, the surgical robot cannot stably operate, and potential safety hazards are caused to the surgical process. In the embodiment, the motor is controlled to operate through an operation instruction generated by the expected speed, so that motor position compensation is realized, and the requirement of master-slave consistency is met in the subsequent motor operation process.

In order to ensure that the running process of the motor meets the performance requirement, the specific implementation manner of generating the running instruction based on the expected speed can be as follows: determining whether the desired speed is greater than a preset speed threshold; if not, the expected speed is determined as the actual speed, and the operation instruction is generated based on the actual speed.

Specifically, when the expected speed is less than or equal to the preset speed threshold, it is indicated that the performance of the motor can be satisfied to operate according to the expected speed, and then the expected speed is taken as the actual speed of the motor in the current operation period, and an operation command is generated based on the actual speed so as to control the motor to operate according to the actual speed.

Further, the method further comprises the following steps: if yes, determining a preset speed threshold as an actual speed, and generating an operation instruction based on the actual speed. Specifically, when the expected speed is greater than the preset speed threshold, it is indicated that the performance requirement of the motor is exceeded when the motor operates according to the expected speed, and in order to ensure that the performance requirement of the motor can be met, the preset speed threshold can be determined as an actual speed, so that an operation instruction can be generated according to the actual speed, and the motor can be controlled to operate according to the actual speed.

In this embodiment, generating the operation instruction based on the actual speed includes: and determining a target position of the motor at the end time of the current running period based on the actual speed, and generating a running position instruction based on the target position.

In a specific implementation, in order to improve the accuracy of the surgical operation on the surgical robot, the movement process of the motor may be controlled by means of position control. Specifically, the target position of the motor at the end time of the current operation period can be determined based on the actual speed, the period duration of the current operation period and the current actual position, an operation position instruction is generated based on the target position and sent to the motor, so that the motor is operated to the target position, and the position accuracy of the motor operation is ensured.

In this embodiment, further comprising: determining the theoretical speed of the motor in the current running period under the condition that the current theoretical position is equal to the current actual position; and generating an operation instruction based on the theoretical speed, and sending the operation instruction to the motor to control the motor of the surgical robot to start to operate.

Specifically, for the case that the current theoretical position is equal to the current actual position, the master hand and the slave arm are consistent in master-slave mode, the motor is not required to be adjusted in running speed, position compensation is conducted on the motor, running instructions can be directly generated based on the theoretical speed, the running instructions are sent to the motor, and the motor of the surgical robot is controlled to start running.

Further, the method for generating the operation instruction based on the theoretical speed comprises the steps of generating the operation instruction based on the preset speed threshold and sending the operation instruction to the motor under the condition that the theoretical speed is greater than the preset speed threshold; and generating a running command based on the theoretical speed and sending the running command to the motor when the theoretical speed is less than or equal to the speed threshold.

In this embodiment, further comprising: and under the condition that the current actual position exceeds the current theoretical position, determining the theoretical speed of the motor in the current operation period, determining the required speed of the motor in the current operation period based on the theoretical speed, generating an operation instruction based on the required speed, and sending the operation instruction to the motor to control the motor of the surgical robot to start to operate.

Wherein the demand speed is less than the theoretical speed. For example, the speed obtained by subtracting the preset speed step from the theoretical speed may be determined as the required speed.

Specifically, when the current actual position exceeds the current theoretical position, the excessive operation of the motor is described, and in order to maintain the master-slave consistency, the operation amount of the motor needs to be reduced to realize the coincidence of the actual position and the theoretical position, that is, to maintain the master-slave consistency between the master hand and the slave arm. In the embodiment, the operation instruction is generated by adopting the requirement speed which is reduced relative to the theoretical speed, and the motor of the surgical robot is controlled to operate based on the operation instruction, so that the position difference between the actual position and the theoretical position of the motor is reduced as much as possible.

For more clear and detailed description of the present technical solution, it is shown in fig. 2. The change in the theoretical and actual speeds of the motor at different times is shown in fig. 2, where the dashed line is the theoretical speed and the solid line is the actual speed; the horizontal axis represents motor operation time t, and the vertical axis represents motor speed v. the time t0, the time t1 and the time t2 are the starting time of the operation period. Before the time t0, the surgical robot maintains master-slave consistency; in order to meet the performance requirement of the motor from the time t0 to the time t1, the actual speed of the motor is equal to a preset speed threshold value, so that the theoretical position of the motor exceeds the actual position, and in order to compensate the position difference between the theoretical position and the actual position of the motor and ensure consistency of the master and slave again, the theoretical speed can be increased by a preset speed step when the theoretical speed is smaller than the preset speed threshold value, an expected speed is obtained, an operation command is generated according to the expected speed, and the motor is controlled to operate from the time t1 to the time t 2. When the moment t2 is reached, the actual position of the motor is determined to be the same as the theoretical position, so that the consistency of the master and slave of the surgical robot is realized, and after the moment t2, the motor is controlled to operate according to the theoretical speed determined in each operation period, so that the recovery of the consistency of the master and slave of the surgical robot is realized.

Fig. 3 is a schematic structural view of a surgical robot control device according to an embodiment of the present invention, which is used to perform the surgical robot control method according to any of the above embodiments. The apparatus belongs to the same inventive concept as the surgical robot control method of the above embodiments, and reference may be made to the embodiments of the surgical robot control method for details which are not described in detail in the embodiments of the surgical robot control apparatus. As shown in fig. 3, the apparatus includes:

a theoretical speed determining module 10, configured to obtain a current actual position of a motor on a slave arm of the surgical robot at a start time of a current operation period, and determine a theoretical speed of the motor in the current operation period when a predetermined current theoretical position of the motor exceeds the current actual position;

a desired speed determining module 11, configured to determine a desired speed of the motor in a current operation period based on the theoretical speed, in a case where the theoretical speed is less than a preset speed threshold of the motor;

an operation instruction generation module 12 for generating an operation instruction based on the desired speed, and transmitting the operation instruction to the motor to control the motor of the surgical robot to start operation;

the theoretical speed is the ratio of the difference between the theoretical ending position corresponding to the ending time of the current operation period and the current theoretical ending position to the duration of the current operation period; the desired speed is greater than the theoretical speed.

On the basis of any optional technical solution in the embodiment of the present invention, optionally, the desired speed determining module 11 includes:

and the speed increasing unit is used for increasing the theoretical speed by a preset speed step length to obtain the expected speed of the motor in the current running period.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the running instruction generating module 12 includes:

a determining unit for determining whether the expected speed is greater than a preset speed threshold; if not, entering a first instruction generating unit;

and a first instruction generation unit configured to determine a desired speed as an actual speed, and generate an operation instruction based on the actual speed.

On the basis of any optional technical scheme in the embodiment of the invention, optionally, the determining unit is further configured to enter the second instruction generating unit if the determining unit is further configured to enter the second instruction generating unit;

and the second instruction generating unit is used for determining a preset speed threshold value as an actual speed and generating an operation instruction based on the actual speed.

On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the first instruction generating unit or the second instruction generating unit includes:

and the target position determining subunit is used for determining the target position of the motor at the end time of the current running period based on the actual speed and generating a running position instruction based on the target position.

On the basis of any optional technical scheme in the embodiment of the invention, optionally, the preset speed step is the product of the acceleration threshold value of the motor and the period duration.

On the basis of any optional technical scheme in the embodiment of the invention, the method further comprises the following steps:

the operation instruction sending module is used for determining the theoretical speed of the motor in the current operation period under the condition that the current theoretical position is equal to the current actual position; and generating an operation instruction based on the theoretical speed, and sending the operation instruction to the motor to control the motor of the surgical robot to start to operate.

It should be noted that, in the embodiment of the surgical robot control device described above, each unit and module included are only divided according to the functional logic, but not limited to the above-described division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Fig. 4 is a schematic structural view of an electronic device implementing a surgical robot control method according to an embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 20 includes at least one processor 21, and a memory, such as a Read Only Memory (ROM) 22, a Random Access Memory (RAM) 23, etc., communicatively connected to the at least one processor 21, wherein the memory stores a computer program executable by the at least one processor, and the processor 21 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 22 or the computer program loaded from the storage unit 28 into the Random Access Memory (RAM) 23. In the RAM23, various programs and data required for the operation of the electronic device 20 may also be stored. The processor 21, the ROM22 and the RAM23 are connected to each other via a bus 24. An input/output (I/O) interface 25 is also connected to bus 24.

Various components in the electronic device 20 are connected to the I/O interface 25, including: an input unit 26 such as a keyboard, a mouse, etc.; an output unit 27 such as various types of displays, speakers, and the like; a storage unit 28 such as a magnetic disk, an optical disk, or the like; and a communication unit 29 such as a network card, modem, wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 21 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 21 performs the various methods and processes described above, such as a surgical robot control method.

In some embodiments, the surgical robot control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 20 via the ROM22 and/or the communication unit 29. When the computer program is loaded into RAM23 and executed by processor 21, one or more steps of the surgical robot control method described above may be performed. Alternatively, in other embodiments, the processor 21 may be configured to perform the surgical robotic control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A surgical robot control method, comprising:

2. The method of claim 1, wherein the determining a desired speed of the motor at the current operating cycle based on the theoretical speed comprises:

and increasing a preset speed step length for the theoretical speed to obtain the expected speed of the motor in the current running period.

3. The method of claim 1, wherein the generating the operation instructions based on the desired speed comprises:

determining whether the desired speed is greater than the preset speed threshold;

if not, determining the expected speed as an actual speed, and generating the running instruction based on the actual speed.

4. A method according to claim 3, further comprising:

if yes, determining the preset speed threshold as the actual speed, and generating the running instruction based on the actual speed.

5. The method of claim 3 or 4, wherein the generating the run instruction based on the actual speed comprises:

and determining a target position of the motor at the end time of the current running period based on the actual speed, and generating a running position instruction based on the target position.

6. The method of claim 2, wherein the preset speed step is a product of an acceleration threshold of the motor and a period duration.

7. The method as recited in claim 1, further comprising:

determining a theoretical speed of the motor in the current running period under the condition that the current theoretical position is equal to the current actual position;

generating an operation instruction based on the theoretical speed, and sending the operation instruction to the motor to control the motor of the surgical robot to start operation.

8. A surgical robot control device, comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the surgical robot control method of any one of claims 1-7.

10. A computer readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the surgical robot control method of any one of claims 1-7 when executed.