WO2021047522A1 - 手术机器人及其末端器械的控制方法、控制装置 - Google Patents

手术机器人及其末端器械的控制方法、控制装置 Download PDF

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Publication number
WO2021047522A1
WO2021047522A1 PCT/CN2020/114115 CN2020114115W WO2021047522A1 WO 2021047522 A1 WO2021047522 A1 WO 2021047522A1 CN 2020114115 W CN2020114115 W CN 2020114115W WO 2021047522 A1 WO2021047522 A1 WO 2021047522A1
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WIPO (PCT)
Prior art keywords
pose information
coordinate system
information
distal end
arm
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PCT/CN2020/114115
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English (en)
French (fr)
Inventor
高元倩
叶国强
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深圳市精锋医疗科技有限公司
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Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Priority to US17/640,910 priority Critical patent/US20220257326A1/en
Priority to EP20863119.2A priority patent/EP4029467A4/en
Publication of WO2021047522A1 publication Critical patent/WO2021047522A1/zh

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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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Definitions

  • This application relates to the field of minimally invasive surgical medical equipment, and in particular to a surgical robot and a control method and control device for its end equipment.
  • Minimally invasive surgery refers to the use of laparoscopy, thoracoscopy and other modern medical instruments and related equipment to perform surgery inside the body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a master operating table and a slave operating device.
  • the master operating table includes a handle.
  • the doctor sends control commands to the slave operating device through the operating handle.
  • the slave operating device includes a robotic arm and multiple operating arms mounted on the distal end of the robotic arm. ,
  • the operating arm has end instruments, which move with the handle when in working state to realize remote surgical operations.
  • the distal end of the adjustment manipulator often moves with the operating arm with the end instrument, and the position and/or posture change of the end instrument, especially the type of the end instrument, can easily cause discomfort or accident to the patient Safety issues of trauma.
  • a method for controlling end instruments in a surgical robot includes a robotic arm.
  • the distal end of the robotic arm is equipped with one or more operating arms with end instruments, and more than one of the end instruments is Configured as a controlled end device
  • the control method includes the following steps: acquiring the first target pose information of the distal end of the robotic arm in a first coordinate system and the current position of each controlled end device in the first coordinate system
  • Attitude information the first coordinate system refers to the base coordinate system of the robotic arm; under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first target pose information, each of the controlled ends is converted separately
  • the current pose information of the device in the first coordinate system obtains the second target pose information of the controlled end device in the second coordinate system, and the second coordinate system refers to the tool coordinate system of the robotic arm;
  • a target pose information controls the linkage of the joint components in the robot arm so that the distal end of the robot arm reaches the target pose corresponding to the first target pose information, and each of
  • the step of obtaining the current pose information of each controlled end device in the first coordinate system includes: obtaining a selection instruction input by an operator, and selecting more than one of the end devices as the destination device according to the selection instruction.
  • the controlled end device includes: obtaining a selection instruction input by an operator, and selecting more than one of the end devices as the destination device according to the selection instruction.
  • the method includes: judging each Whether the second target pose information is valid; if it is judged to be valid, enter to control the linkage of the joint components in the robot arm according to the first target pose information so that the distal end of the robot arm can reach the The first target pose information corresponds to the target pose, and each of the second target pose information controls the linkage of the joint components in the corresponding operating arm to keep the corresponding controlled end device at the current position and/or pose Unchanging steps.
  • the step of judging whether each of the second target pose information is valid includes: judging whether each of the second target pose information is valid, and obtaining corresponding judgment results respectively; according to the obtained The judgment result judges whether each of the second target pose information is valid.
  • the step of judging whether each of the second target pose information is valid includes: analyzing each of the second target pose information to obtain the corresponding joints in each of the operating arms.
  • the target motion state parameter of the component compare the target motion state parameter of each joint component in each operating arm with the motion state threshold of each joint component in the operating arm; if the corresponding joint component in the operating arm If none of the target motion state parameters exceeds the motion state threshold of each joint component in the operating arm, it is determined that the corresponding second target pose information is valid; otherwise, it is determined that the corresponding second target pose information is invalid.
  • the motion state parameter includes a position parameter, a speed parameter, and an acceleration parameter
  • the motion state threshold includes a position parameter threshold, a speed parameter threshold, and an acceleration parameter threshold.
  • the step of obtaining the first target pose information of the distal end of the robotic arm in the first coordinate system includes: obtaining configuration information of the task freedom of the distal end of the robotic arm;
  • the configuration information of the task degree of freedom acquires the first target pose information of the distal end of the robot arm in the first coordinate system and associated with the corresponding task degree of freedom.
  • the configuration information of the task freedom of the distal end of the robotic arm is associated with position information and/or posture information.
  • the step of obtaining the current pose information of each controlled end device in the first coordinate system includes: obtaining configuration information of the task freedom of each controlled end device; according to each controlled end device
  • the configuration information of the degree of freedom of the task acquires the current pose information of each controlled end device in the first coordinate system and is associated with the corresponding degree of freedom of the task.
  • the configuration information of the task freedom of each controlled end device is the same, and the configuration information of the task freedom is related to the position freedom and/or Degree of freedom of posture.
  • the step of acquiring the first target pose information of the distal end of the robotic arm in the first coordinate system includes: acquiring the six external forces applied to the robotic arm to drag the distal end of the robotic arm to move. Dimensional force/moment vector; Analyze the six-dimensional force/moment vector of the external force into incremental pose information of the distal end of the robotic arm in the first coordinate system; obtain the distal end of the robotic arm in the first coordinate system Current pose information; the first target pose information is calculated according to the incremental pose information and current pose information of the distal end of the robotic arm in the first coordinate system.
  • the step of acquiring the first target pose information of the distal end of the robotic arm in the first coordinate system includes: acquiring the movement information input by the movement input device; Incremental pose information of the first coordinate system; Acquire the current pose information of the distal end of the robotic arm in the first coordinate system; According to the incremental pose information and current position of the distal end of the robotic arm in the first coordinate system The pose information calculates the first target pose information.
  • the method before the step of acquiring the first target pose information of the distal end of the robotic arm in the first coordinate system and the current pose information of each of the controlled end instruments in the first coordinate system, the method includes: acquiring a description of the robotic arm And description information of the structural features of the operating arm installed at the distal end of the robotic arm and having the controlled end device, and generating a simulation of the robotic arm and the corresponding structure of the operating arm according to the description information Model image.
  • the method includes: changing the corresponding second target pose information judged to be invalid in the model image.
  • a computer-readable storage medium stores a computer program, and the computer program is configured to be executed by more than one processor to implement the method described in any of the above embodiments. Steps of the control method.
  • a control device for an end instrument in a surgical robot including: a memory for storing a computer program; a processor for loading and executing the computer program; wherein the computer program is executed by the processor Load and execute the steps for implementing the control method described in any of the above embodiments.
  • a surgical robot including: a robotic arm; one or more operating arms with end instruments installed at the distal end of the robotic arm, the end instruments including image end instruments and/or operation end instruments; And a control device; the control device is used to implement the steps of the control method described in any one of the above embodiments.
  • the second target position of each controlled end device in the second coordinate system is calculated.
  • Posture information and then use the first target posture information of the distal end of the robotic arm and the second target posture information of each controlled end device to control their linkage, which can adjust the distal end of the robotic arm while maintaining the current status of each controlled end device The posture remains unchanged, and it is convenient and safe to use.
  • FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot according to this application.
  • Fig. 2 is a partial schematic diagram of the surgical robot shown in Fig. 1;
  • Fig. 3 is a partial schematic diagram of the surgical robot shown in Fig. 1;
  • FIG. 4 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application
  • FIG. 5 is a simplified schematic diagram of an embodiment of the surgical robot according to the application in a use state
  • FIG. 6 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • FIG. 7 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • FIG. 8 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • Fig. 9 is a schematic diagram of the principle of the mechanical arm in the arm body mechanism of the surgical robot shown in Fig. 1;
  • FIG. 10 is a schematic diagram of the analysis of the spatial motion angle in the control method of the surgical robot according to the present application.
  • FIG. 11 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • FIG. 12 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • FIG. 13 is a flow chart of the control method of the surgical robot of this application in the one-to-one operation mode
  • FIG. 14 is a schematic diagram of the operation of the control method of the surgical robot of this application in the one-to-one operation mode
  • FIG. 15 is a flowchart of the next embodiment of the control method of the surgical robot of this application in the two-to-one operation mode;
  • FIG. 16 is a schematic diagram of the operation of the control method of the surgical robot according to the application in the two-to-one operation mode
  • FIG. 17 is a flowchart of an embodiment of a method for controlling a surgical robot according to the present application.
  • 19 is a schematic diagram of the operation of another embodiment of the method for controlling a surgical robot according to the present application in a two-to-one operation mode;
  • FIG. 20 is a schematic structural diagram of another embodiment of a surgical robot according to this application.
  • distal and proximal used in this article are locators, which are commonly used terms in the field of interventional medical devices, where “distal” refers to the end far away from the operator during surgery, and “proximal” refers to surgery The end close to the operator during the process.
  • distal refers to the end far away from the operator during surgery
  • proximal refers to surgery The end close to the operator during the process.
  • each includes one or more.
  • FIGS. 1 to 3 are respectively a schematic structural diagram of an embodiment of a surgical robot according to the present application, and a partial schematic diagram thereof.
  • the surgical robot includes a master operating table 1 and a slave operating device 2.
  • the master console 1 has a motion input device 11 and a display 12.
  • the doctor sends a control command to the slave operation device 2 by operating the motion input device 11, so that the slave operation device 2 performs corresponding operations according to the control command of the doctor to operate the motion input device 11, and
  • the operation area is observed through the display 12.
  • the slave operating device 2 has an arm body mechanism, and the arm body mechanism has a robot arm 21 and an operating arm 31 detachably mounted on the distal end of the robot arm 21.
  • the mechanical arm 21 includes a base and a connecting component that are sequentially connected, and the connecting component has a plurality of joint components.
  • the operating arm 31 includes a connecting rod 32, a connecting component 33, and an end device 34 connected in sequence.
  • the connecting component 33 has a plurality of joint components.
  • the operating arm 31 adjusts the posture of the end device 34 by adjusting the joint components; the end device 34 has an image end The instrument 34A and the operating end instrument 34B. Among them, the robot arm 21 and/or the operating arm 31 can follow the motion input device 11 to move.
  • the motion input device 11 may be connected to the main console 1 through a wire, or connected to the main console 1 through a rotating link.
  • the motion input device 11 may be configured as a handheld type or a wearable type (often worn on the distal end of the wrist such as a finger or palm), which has multiple effective degrees of freedom.
  • the motion input device 11 is configured in the form of a handle shown in FIG. 3.
  • the number of effective degrees of freedom of the motion input device 11 is configured to be lower than the number of task degrees of freedom defined at the distal end of the arm mechanism; in another case, the number of effective degrees of freedom of the motion input device 11 is It is configured to be no less than the number of mission degrees of freedom at the distal end of the arm body mechanism.
  • the motion input device 11 is exemplarily configured to have 6 effective degrees of freedom, where the effective degree of freedom of the motion input device 11 refers to the effective degree of freedom that can follow the hand movement.
  • the degree of freedom allows the doctor to have a larger operating space, and can generate more meaningful data through the analysis of each effective degree of freedom, which satisfies the control of almost all configurations of the robotic arm 21.
  • the motion input device 11 follows the hand motion of the doctor, and collects the motion information of the motion input device itself caused by the hand motion in real time. Using these motion information, position information, posture information, speed information, acceleration information, etc. can be analyzed.
  • the motion input device 11 includes, but is not limited to, a magnetic navigation positioning sensor, an optical positioning sensor, or a link-type main operator.
  • a method for controlling end instruments in a surgical robot includes the following steps:
  • Step S1 Obtain the first target pose information of the distal end of the robotic arm in the first coordinate system and the current pose information of each controlled end instrument in the first coordinate system.
  • the first coordinate system refers to the base coordinate system of the robotic arm.
  • a controlled end device is a designated end device that needs to be passively controlled in order to maintain the current position and/or posture unchanged.
  • the end devices also include uncontrolled operation end devices. Uncontrolled end devices are unspecified end devices that follow the movement of the distal end of the manipulator without keeping the current position and/or posture unchanged and do not need to be passively controlled.
  • step S1 it includes obtaining the selection instruction input by the operator, and selecting more than one end device from the end devices according to the selection instruction as the controlled end device.
  • the system can also default more than one (including all) end devices as controlled end devices.
  • Step S2 Under the condition that the distal end of the robotic arm reaches the target pose corresponding to the first target pose information, the current pose information of each controlled end device in the first coordinate system is converted to obtain the corresponding controlled end device in the second coordinate system.
  • the second target pose information of the coordinate system is converted to obtain the corresponding controlled end device in the second coordinate system.
  • the second coordinate system refers to the tool coordinate system of the robotic arm.
  • Step S3 Control the linkage of the joint components in the robot arm according to the first target pose information so that the distal end of the robot arm reaches the target pose corresponding to the first target pose information, and respectively control the corresponding according to each second target pose information
  • the joint components in the operating arm are linked to keep the current position and/or posture of the corresponding controlled end instrument unchanged.
  • each controlled end device is calculated according to the first target pose information of the distal end of the robotic arm 21 in the first coordinate system and the current pose information of each controlled end device 34 in the first coordinate system 34 the second target pose information in the second coordinate system, and then use the first target pose information of the distal end of the robot arm 21 and the second target pose information of each controlled end device 34 to control their linkage, which can be used in adjusting the mechanical
  • the distal end of the arm 21 keeps the current posture of each controlled end instrument 34 unchanged, which is convenient and safe to use.
  • the second target pose information of each controlled end device 34 in the second coordinate system can be calculated by the following formula:
  • Is the second target pose information of the controlled end device An in the second coordinate system Is the current pose information of the distal end of the robotic arm in the first coordinate system
  • B is the base coordinate system of the robotic arm
  • T is the tool coordinate system of the robotic arm.
  • this formula can be understood by the text description, that is, when the distal end of the robotic arm 21 reaches the distal end of the robotic arm 21, the conversion is subject to the condition of the target pose corresponding to the first target pose information in the first coordinate system.
  • the current pose information of the controlled end device 34 in the first coordinate system obtains the second target pose information of the controlled end device 34 in the second coordinate system.
  • the distal end of the robotic arm 21 is provided with three operating arms 31 with operating end instruments 34B, assuming the three operating arms 31
  • the operating end instruments A1, A2, and A3 are all configured as controlled end instruments. Since they have a common first coordinate system, the above formula (1) can be used to generate their respective calculation formulas, as follows:
  • the second target pose information of the controlled end devices A1, A2, and A3 in the second coordinate system can be respectively solved.
  • step S2 the method includes:
  • Step S4 It is judged whether the second target pose information of each controlled end device is valid (that is, whether it is a valid solution).
  • step S3 if it is judged that all the second target pose information is valid, go to step S3; and if it is judged that more than one second target pose information is invalid, go to step S5.
  • Step S5 end the control.
  • the controlled end device 34 that is judged to be valid may be allowed to keep the position and/or posture unchanged when the robot arm 21 is adjusted, while the controlled end device 34 that is judged to be invalid is allowed to follow The mechanical arm 21 moves.
  • the controlled end device 34 Recalculate the first target pose information of the robot arm 21 in the first coordinate system based on the current pose information of the first coordinate system, and then use the adjusted first target pose information of the robot arm 21 in the first coordinate system
  • the current pose information of the unadjusted controlled end device 34 in the first coordinate system is used to calculate their respective second target pose information in the second coordinate system using the above formula (1).
  • step S4 it includes:
  • step S41 it is judged whether the second target pose information of each controlled end device is valid or not.
  • step S42 it is judged whether all are valid according to the judgment result of the second target pose information of each controlled end device.
  • step S41 it includes:
  • Step S411 Analyze the second target pose information of the corresponding controlled end device to obtain the target motion state parameters of each joint component in the corresponding operating arm.
  • the motion state parameter may be a position parameter, a speed parameter and/or an acceleration parameter.
  • the position parameters can be directly analyzed from the corresponding target pose information, and the speed parameters and/or acceleration parameters can be calculated from these position parameters and the elapsed time for generating these position parameters, or correspondingly, it can also be obtained with the help of speed sensors, acceleration The sensor is measured.
  • step S412 the target motion state parameters of each joint component in the operating arm are respectively compared with the motion state thresholds of each joint component in the operating arm to determine whether the corresponding second target pose information is valid.
  • the motion state parameters usually refer to the position parameter, the speed parameter and the acceleration parameter.
  • the corresponding operating arm 31 is specifically The position parameter, velocity parameter, and acceleration parameter of each joint component in the joint component are respectively compared with the position parameter threshold, velocity parameter threshold, and acceleration parameter threshold of the corresponding joint component.
  • the motion state parameter may also refer to one or two of a position parameter, a speed parameter, and an acceleration parameter.
  • the motion state parameter only includes a position parameter.
  • the second target posture of the operating arm 31 is determined by comparing the motion state parameters of the joint components of the operating arm 31 with the motion state thresholds of each joint component based on the structural characteristics and performance parameters of the adjustment object and/or custom settings. Whether the information is valid can effectively protect the operating arm 31 and increase its service life. Exemplarily, even if the position parameter (i.e. movement stroke) of each joint component in the adjustment object is within the position parameter threshold (i.e. movement range) of the corresponding joint component by comparison, its speed parameter and/or acceleration parameter exceeds the speed parameter The threshold value and/or the acceleration parameter threshold value reflects that the adjustment speed is too fast and/or the speed changes too fast, which may affect the safe use and be judged as invalid.
  • the target motion state parameter of each joint component in the operating arm 31 does not exceed the motion state threshold of each joint component in the operating arm 31, it is determined that the second target pose information is valid; and if the joints in the operating arm 31 If more than one of the target motion state parameters of the component exceeds the motion state threshold of each joint component in the operating arm 31, it is determined that the second target pose information is invalid.
  • the RCM constrained movement can be realized by setting the task freedom of the distal end of the robotic arm, which is only related to the posture freedom.
  • the fixed point has a relatively fixed positional relationship with the distal end of the mechanical arm.
  • the origin of the second coordinate system in some embodiments may be the fixed point, and the origin of the second coordinate system in other embodiments may also be a certain point on the distal end of the robotic arm.
  • a detection unit connected to the processing system can be provided at the connection between the distal end of the robotic arm 21 and the operating arm 31, and the detection unit is used to generate a point where the distal end of the robotic arm 21 does not move around when the trocar is reliably connected to the distal end of the robotic arm 21 Trigger signal for movement.
  • the processing system detects the trigger signal, the corresponding task degree of freedom is automatically set to control the remote end of the robotic arm 21 to perform RCM constraint motion.
  • operators such as doctors to actively set the corresponding task degrees of freedom to control the distal end of the robotic arm 21 to perform RCM constrained movement.
  • the trigger signal can also be input by the operator through an input device such as a button.
  • the distal end of the operating arm 31 may also have a fixed point.
  • the fixed point of the operating arm 31 is different from the fixed point of the mechanical arm 21.
  • the end instrument 34 of the operating arm 31 can also be configured to operate around.
  • the motion of the fixed point of the arm 31 is the RCM constraint motion.
  • the RCM constraint control can be performed on the distal end of the robotic arm and/or the distal end of the operating arm, so as to be suitable for a variety of usage scenarios.
  • the processing system is configured to selectively control the controlled end instrument 34 to keep the position and/or posture unchanged.
  • the specific control of the controlled end device 34 by the processing system can be selected according to the control instruction input by the doctor.
  • the control command essentially reflects the configuration of the doctor's degree of freedom of the tasks of the controlled end device 34.
  • the aforementioned control of the robot arm 21 and each operating arm 31 can be performed in the absence of a field of view, that is, a lack of an operating arm 31 with an image terminator. More preferably, the above-mentioned control can be performed in the presence of an operating arm 31 with an image end instrument 34A installed at the distal end of the robotic arm 21, and this is also more consistent with the actual surgical process.
  • this method does not need to control the operating arm 31 with the end-of-image device 34A as described above, but allows the operating arm 31 with the end-of-image device 34A to directly follow the movement of the distal end of the robotic arm 21, so that It allows the doctor to observe the changes in the field of view caused by the adjustment of the robotic arm 21 very intuitively, that is, the doctor can adjust the field of view by controlling the distal movement of the robotic arm 21, and use the field of view to control the end instruments with controlled operation.
  • the 34B operating arm 31 performs safe and accurate control.
  • each controlled operation end device 34B can be kept unchanged while adjusting the image end device 34A, the image end device 34A and each controlled operation end device 34B can be adjusted respectively in succession by intermittently, Can play the role of conveniently expanding the operation space.
  • step S1 it is assumed that only the operation end device 34B can be controlled as described above and the image end device 34A follows the distal end of the robot arm 21 to provide a real-time changing field of view, that is, only the operation end device 34B can be configured as described above
  • the control end devices before the above step S1, it includes:
  • step S1 Identify the type of end equipment of each operating arm installed at the distal end of the robotic arm, and after identifying that the corresponding operating arm has a controlled operating end equipment, go to step S1.
  • the description information of the corresponding operating arm 31 needs to be obtained first, and the description information includes the type information of the end instrument 34 set thereon; Descriptive information is used to identify the operating arm 31 with the controlled operating end device 34B, and proceed to step S1 accordingly to automatically control the operating arm 31 with the controlled operating end device 34B as desired by this application.
  • the description information usually also includes the connecting rod parameters of the operating arm 31.
  • the example for obtaining the description information by the processing system can be realized through a data interface or a sensing device. Accordingly, the description information is stored in a chip (including a memory, an electronic tag, etc.) of the operating arm 31.
  • an example of how to obtain the current pose information of each controlled end instrument 34 in the first coordinate system can be obtained by obtaining information such as the joint angle of each joint component of the corresponding operating arm 31 and using the normal Kinematics are solved.
  • step S1 how to obtain the first target pose information at the distal end of the robotic arm 21 can be performed through the steps shown in FIG. 8:
  • Step S11 Obtain the operation information of the doctor on the robot arm, and analyze and map the operation information into the incremental pose information of the distal end of the robot arm in the first coordinate system.
  • the operation information may be external force information (such as a six-dimensional force/torque vector) generated by the external force applied by the doctor to the distal end of the robotic arm to drag the distal end of the robotic arm; or, the operation information may be a motion input device 11 The motion information of its own input from the remote motion of the teleoperation manipulator.
  • external force information such as a six-dimensional force/torque vector
  • Step S12 Obtain the current pose information of the distal end of the robotic arm in the first coordinate system.
  • step S13 the target pose information of the robot arm is calculated according to the incremental pose information and current pose information of the distal end of the robotic arm in the first coordinate system.
  • each operating arm 31 can be kept stationary, and only the operating arm 31 can be controlled to move; or the robot arm 21 and the operating arm can be controlled to move. 31 is regarded as a tandem structure arm mechanism for overall control. These two examples achieve different purposes of the invention from this application.
  • This application mainly takes the operation information as exercise information as an example for detailed description.
  • step S11 is specifically:
  • This step is mainly to analyze the motion information of the time before and after, the time before and after can be adjacent time before and after, or the time before and after a certain period of time.
  • the pose change in the fixed coordinate system of the motion information at the next moment relative to the motion information at the previous moment is calculated, that is, the incremental pose information.
  • the incremental pose information of the fixed coordinate system is mapped to the incremental pose information of the end instrument 34 in the reference coordinate system.
  • the fixed coordinate system may be defined at the display, of course, the fixed coordinate system may also be defined in other parts of the surgical robot, and this part is not movable at least during work. Among them, "mapping" means a corresponding conversion relationship.
  • step S12 may include:
  • the corresponding position information can be obtained by a position sensor such as an encoder installed at the joint assembly.
  • the robot arm 21 has 5 degrees of freedom, and such a set of position information (d1, ⁇ 2 , ⁇ 3 , ⁇ 4 , ⁇ 5 ) can be collected by means of position sensors. .
  • the current pose information of the robotic arm is calculated based on the position information of each joint component.
  • the calculation can usually be combined with positive kinematics.
  • Establish a kinematic model of the fixed point of the robot arm 21 ie at point C, the origin of the tool coordinate system of the robot arm 21 is on the fixed point
  • the calculation method is
  • ⁇ x0 is the rolling angle
  • ⁇ y0 is the yaw angle
  • ⁇ z0 is the pitch angle.
  • the degree of freedom of the rolling angle is lacking and ⁇ x0 is actually not adjustable.
  • the linkage between the distal end of the robotic arm 21 and the controlled end instrument 34 can be realized by a position control method. Specifically, in step S3, it includes:
  • Step S31 Calculate the target position information of each joint component of the arm body mechanism according to the target pose information of the arm body mechanism.
  • the calculation can usually be combined with inverse kinematics.
  • Step S32 controlling the linkage of the joint components of the arm mechanism according to the target position information of the joint components to move the distal end of the arm mechanism to the target posture.
  • the arm mechanism here may be the robotic arm 21 and/or the operating arm 31, and the robotic arm 21 and the operating arm 31 are performed according to steps S31 to S32.
  • step S1 in order to reflect that the active control of the arm mechanism is the doctor’s true intention, the following can be performed before step S1:
  • step S100 it is detected whether a start command to start active control is acquired.
  • the start command can be input by the active control switch. After detecting and acquiring the start command, enter the step S1 described above.
  • step S3 perform:
  • Step S101 It is detected whether an end command to stop active control is acquired.
  • the end command can also be input by the active control switch. After the end command is detected and acquired, the control of the arm mechanism is ended; otherwise, step S1 to step S101 are re-entered.
  • the above-mentioned active control switch can be configured as a foot switch, a key switch, a main operator switch, etc.
  • step S1 the following can be performed before step S1:
  • This step can be implemented by setting a proximity switch on the main console to detect whether the head is close. After the proximity switch detects that the head is approaching, the start condition is satisfied, and step S1 is entered. Alternatively, a voice recognition module may be set to confirm the activation according to the activation voice instruction of the doctor, thereby entering step S1.
  • the task freedom configuration may be performed for the distal end of the robotic arm 21 and each controlled end device 34 to generate configuration information, and the configuration information of the task freedom of each controlled end device 34 is usually configured to be the same .
  • the configuration of the task freedom of the distal end of the robotic arm 21 can be understood as an enabling function, that is, the degree of freedom that allows the distal end of the robotic arm 21 to move.
  • the operation information ie, external force information or motion information
  • the degree of freedom of the task is set by the operator according to the use scenario, that is, the operator sets the adjustable position and/or posture of the distal end of the robotic arm according to requirements.
  • the configuration of the degree of freedom of the task of the controlled end device 34 can be understood as a disabled function, that is, the freedom of the end device 34 can be prohibited.
  • the position and/or posture of the controlled end device 34 can be maintained through this configuration. constant.
  • each second target pose information can be calculated in combination with the configuration information of the task freedom of the controlled end instrument 34.
  • the above configuration of the task freedom of the distal end of the robotic arm 21 and the end instrument 34 can be freely configured by the doctor, for example, through a pre-generated human-computer interaction interface containing configurable task freedom.
  • the task freedom of the distal end of the arm mechanism can be understood as the freedom of movement allowed by the distal end of the arm mechanism in Cartesian space, which is at most six.
  • the degree of freedom that the distal end of the arm mechanism actually has in the Cartesian space is the effective degree of freedom.
  • the effective degree of freedom of the distal end of the arm mechanism is related to its configuration (ie, structural characteristics).
  • the effective degree of freedom of the distal end of the arm mechanism can be understood. It is the degree of freedom that the distal end of the arm mechanism can achieve in the Cartesian space.
  • the task degrees of freedom available for configuration of the end instrument 34 are related to the total effective degrees of freedom of the robotic arm 21 and the operating arm 31.
  • the robotic arm 21 and the operating arm 31 can be regarded as a tandem arm mechanism, and the two work together to provide a
  • the degree of freedom of tasks for the configuration of the end instrument 34 is also at most six.
  • the configuration information of the task freedom of the distal end of the arm mechanism is to configure which degrees of freedom the distal end of the arm mechanism is allowed to move.
  • the utilization of the configuration information of the task freedom of the distal end of the arm mechanism can be interpreted as being used in analysis or in mapping in step S11.
  • it is configured to allow movement of the three degrees of freedom [x, y, z] in the pose information, no matter what form is used, it is mainly reflected in the final target pose information, namely [x, The three degrees of freedom y, z] follow the change of operation information such as motion information or external force information, and the three degrees of freedom [ ⁇ , ⁇ , ⁇ ] do not follow the change of motion information or external force information.
  • x is the degree of freedom of the horizontal movement task
  • y is the degree of freedom of the vertical movement task
  • z is the degree of freedom of the forward and backward movement task
  • ⁇ is the degree of freedom of the yaw angle task
  • ⁇ is the degree of freedom of the pitch angle task
  • ⁇ is the roll angle task Degrees of freedom.
  • the effective degrees of freedom of the robotic arm 21 include [x, y, z, ⁇ , ⁇ ]. According to the structural characteristics of the joint components 210 to 214 in the robotic arm 21, the There is no degree of freedom on ⁇ .
  • the task freedom of the power mechanism 22 connected to the distal end of the robotic arm 21 and used to install and drive the operating arm 31 with the end instrument 34 is selected from the effective degrees of freedom of the robotic arm 21:
  • the configuration information of the task freedom of the power mechanism 22 (that is, the task freedom of the distal end of the robot arm 21) is [x, y, z, ⁇ , ⁇ ]
  • the configuration information of the task freedom of the power mechanism 22 is the same as that of the mechanical
  • the information of the effective degrees of freedom of the arm 21 is completely matched.
  • the power mechanism 22 is freely controlled, and the power mechanism 22 can be controlled to move in a large range to adapt to the operating room layout;
  • the configuration information of the task freedom of the power mechanism 22 is [x, y, z, ⁇ ] or [x, y, z], etc.
  • the configuration information of the task freedom of the power mechanism 22 is included in the robot arm 21
  • the information of the effective degrees of freedom is not completely matched.
  • the power mechanism 22 is controlled by restraint, and the power mechanism 22 can be controlled within a limited range.
  • the configuration information of the mission degree of freedom of the configuration power mechanism 22 only includes [ ⁇ , ⁇ ], this belongs to the RCM constraint control in the constraint control, that is, the movement around the remote center of motion (ie, the fixed point) can only be The yaw angle and pitch angle can be adjusted to meet the fine adjustment during the operation.
  • the RCM constraint control can include only the yaw angle , Adjust only the pitch angle, only the roll angle, the yaw angle and the pitch angle, the yaw angle and the roll angle, the pitch angle and the roll angle, and the yaw angle, the pitch angle and the roll angle.
  • the configuration information of the mission degree of freedom of the power mechanism 22 is only partially included in the information of the effective degree of freedom of the manipulator 21, a better option is to prompt information about the configuration error, and the other option is It is possible to allow only a part of the degree of freedom of the information included in the effective degree of freedom of the robot arm 21 to be adjustable. Still taking the robot arm 21 shown in FIG.
  • the configuration information of the task freedom of the power mechanism 22 is [y, z, ⁇ , ⁇ , ⁇ ] or [x, y, z, ⁇ , ⁇ , ⁇ ] .
  • it can prompt the information of configuration error, on the other hand, it can allow the adjustment of the corresponding degrees of freedom in [y,z, ⁇ , ⁇ ] or [x,y,z, ⁇ , ⁇ ]. This can be configured according to actual needs.
  • the surgical robot may provide one or more motion input devices 11.
  • the surgical robot provides two motion input devices 11.
  • the two motion input devices 11 are provided for two hands to operate, which can be operated by one person or by two people.
  • the robotic arm 21 can selectively follow one motion input device or two motion input devices, that is, the robotic arm 21 can follow any one or both of the two motion input devices 11, and the one-to-one operation mode is defined as One motion input device 11 is used to control the motion of one mechanical arm 21, and the two-to-one operation mode is defined as using two motion input devices 11 to control the motion of one mechanical arm 21 together.
  • the movement of a mechanical arm 21 one can choose to adopt a one-to-one operation mode or a two-to-one operation mode. For the one-to-one operation mode, you can further choose which motion input device to use for control.
  • the motion information input by the motion input device is acquired, and the motion information is parsed and mapped as the distal end of the robotic arm in the first coordinate system
  • the steps of incremental pose information include:
  • Step S111 Acquire the first pose information of the motion input device at the previous moment.
  • Step S112 Obtain the second pose information of the motion input device at a later time.
  • the latter moment can usually be understood as the current moment, and as time changes, the latter moment here becomes the moment before the later moment.
  • step S111 and step S112 both the posture information input by the motion input device selected for the one-to-one operation mode is acquired.
  • Step S113 calculating and acquiring the incremental pose information of the motion input device in the fixed coordinate system according to the first pose information and the second pose information of the motion input device.
  • Step S114 Map the incremental pose information of the motion input device in the fixed coordinate system to the incremental pose information of the distal end of the robotic arm in the first coordinate system.
  • Incremental pose information In an embodiment, referring to Figure 15 and Figure 16, for the two-to-one operation mode, the motion information input by the motion input device is acquired, and the motion information is parsed and mapped into The steps of incremental pose information of the distal end of the robotic arm in the first coordinate system include:
  • step S111' the respective first pose information of the two motion input devices at the previous moment are respectively obtained.
  • step S112' the respective second pose information of the two motion input devices at a later time are respectively acquired.
  • step S113' the incremental pose information of the two motion input devices in the fixed coordinate system is calculated by combining the proportional coefficient and the first pose information and the second pose information of the two motion input devices.
  • step S113' it can be specifically implemented through the following steps:
  • step S114' the incremental pose information of the two motion input devices in the fixed coordinate system is mapped to the incremental pose information of the distal end of the robotic arm in the first coordinate system.
  • the proportional coefficients K 1 and K 2 are both 0.5, then the acquired incremental pose information represents the connection between the two motion input devices The incremental pose information of the center point. According to the actual situation, K 1 and K 2 can be assigned additional values.
  • step S113 or step S113'
  • step S114 or step S114'
  • step S113 it is also possible to obtain the pose information of all effective degrees of freedom of the motion input device in step S113 (or step S113'), but in step S114 (or step S114') the incremental pose information of the fixed coordinate system
  • step S114 or step S114'
  • the pose information of the degree of freedom associated with the task freedom of the distal end of the robotic arm 21 is mapped to the incremental pose information of the distal end of the robotic arm 21 in the first coordinate system, while maintaining the task freedom of the distal end of the robotic arm 21
  • step S114 the following steps may be performed during step S114 or step S114':
  • different parameters are modified in different ways.
  • the parameters before and after the correction can be expressed as the relationship of multiplication and division; or different compensation values can be set to correct different types of parameters, and the parameters before and after the correction can be expressed as The relationship between addition and subtraction; alternatively, different types of parameters can be corrected together with the method of setting correction coefficients and compensation values.
  • the parameters before and after correction can be expressed as a relationship including multiplication and division and addition and subtraction.
  • steps S111 to S114 can be performed in any step between steps S111 to S114 (steps S111' to S114'). For example, it may be suggested to proceed in step S114 (or step S114'). This step can more accurately reflect the operation intention of the doctor to reduce the influence of misoperation, and can compensate for the unreachable problem of part of the rotation angle caused by the hand flexibility factor, and realize the adjustment of any angle.
  • the one-to-one operation mode and the two-to-one operation mode are different in habits or flexibility, even if the same correction method is used to correct different types of parameters in the incremental pose information, this The two operating modes set different correction coefficients and/or compensation values.
  • Both the one-to-one operation mode and the two-to-one operation mode are applicable to the situation of different task degrees of freedom at the distal end of the robotic arm. From the perspective of convenience and accuracy, the one-to-one operation mode is more suitable for the situation where the remote end of the robot has more degrees of freedom (such as 4 degrees of freedom or more), and the two-to-one operation mode is more suitable for the remote robot.
  • the end task degree of freedom is less (for example, within 3 task degrees of freedom).
  • the RCM constraint control can be performed conveniently and accurately.
  • the position information contained in the motion information needs to be analyzed and mapped to the posture information of the robot arm 21, which is easy to use the two motion inputs
  • the device 11 controls.
  • the translational motion information of the two motion input devices 11 in the horizontal direction can be parsed and mapped into the yaw angle increment information of the robot arm 21 in the first coordinate system, and the two motion input devices 11 can be set in the vertical direction.
  • the translational motion information in the direction is analyzed and mapped to the pitch angle incremental information of the robotic arm 21 in the first coordinate system, and the rotational motion information of the two motion input devices 11 on an arbitrary plane such as a vertical plane is analyzed and mapped to the robotic arm 21.
  • Rolling angle increment information in the first coordinate system Illustratively, as shown in FIG. 17, the horizontal movement increment information, vertical movement increment information, and rotation increment information of the two motion input devices 11 in the fixed coordinate system
  • the amount information can be carried out through the following steps:
  • Step S231 Acquire respective first position information of the two motion input devices at the previous moment.
  • Step S232 Acquire respective second position information of the two motion input devices at a later time.
  • Step S233 Combining the scale factor and the respective first position information and second position information of the two motion input devices to calculate and obtain the horizontal movement increment information, the vertical movement increment information, and the rotation increment information of the two movement input devices in the fixed coordinate system. ⁇ Volume information.
  • step S233 the horizontal movement increment information and the vertical movement increment information of the fixed coordinate system can be calculated and obtained by referring to the foregoing method, and the rotation increment information of the fixed coordinate system can be calculated and obtained in the following way as an example, as shown in the figure As shown in Figure 18 and Figure 19:
  • Step S2331 Establish a first position vector between the two motion input devices at the previous moment.
  • Step S2332 Establish a second position vector between the two motion input devices at a later time.
  • Step S2333 Calculate the angle between the first position vector and the second position vector in combination with the proportional coefficient to obtain the rotation increment information of the two moving devices in the fixed coordinate system.
  • Step S2334 One-to-one mapping of the horizontal movement increment information, the vertical movement increment information and the rotation increment information of the two moving devices in the fixed coordinate system to the yaw angle increment information and the pitch angle of the distal end of the robotic arm Incremental information and rolling angle incremental information.
  • an input device may be configured in the main operation console and/or the slave operation device, and the input device is used to output a control command for switching the mapping relationship.
  • the mapping relationship includes a natural mapping relationship and an unnatural mapping relationship.
  • the natural mapping relationship can be defined as: the incremental pose information in the fixed coordinate system obtained by the analysis of the motion information is mapped one-to-one to the incremental pose of the distal end of the robotic arm 21 in the first coordinate system according to the type of its parameter.
  • Information specifically, the horizontal movement increment information of the fixed coordinate system is mapped to the horizontal movement increment information of the robot arm 21 in the first coordinate system, and the vertical movement increment information of the fixed coordinate system is mapped to the robot arm 21 in the first coordinate system.
  • the vertical movement incremental information of the fixed coordinate system, the forward and backward movement incremental information of the fixed coordinate system are mapped to the forward and backward movement incremental information of the robot arm 21 in the first coordinate system, and the yaw angle incremental information of the fixed coordinate system is mapped to the mechanical
  • the yaw angle increment information of the arm 21 in the first coordinate system, the pitch angle increment information of the fixed coordinate system is mapped to the pitch angle increment information of the robot arm 21 in the first coordinate system, and the roll angle of the fixed coordinate system
  • the incremental information is mapped to the incremental information of the rolling angle of the robot arm 21 in the first coordinate system.
  • the unnatural mapping relationship is a mapping relationship other than the natural mapping relationship.
  • the unnatural mapping relationship includes but not limited to the conversion mapping relationship, which includes but is not limited to the aforementioned horizontal movement increment information of the fixed coordinate system, and vertical
  • the straight movement increment information and the rotation increment information are one-to-one mapped to the yaw angle increment information, the pitch angle increment information, and the roll angle increment information of the manipulator 21. Configuring an unnatural mapping relationship can easily control the manipulator 21 in certain situations, such as a two-to-one operation mode.
  • the motion information is analyzed and mapped into the first coordinate system of the distal end of the robotic arm 21
  • the incremental pose information Furthermore, the doctor can set up an easy-to-understand and easy-to-operate method according to his own habits.
  • the effective degree of freedom of the motion input device 11 may also be less than 6. However, as long as the effective degree of freedom of the motion input device 11 is not less than the task freedom of the robotic arm 21, one or more of the foregoing can be used.
  • the method analyzes the motion information and maps it to the incremental pose information of the distal end of the robotic arm 21 in the first coordinate system to achieve the control purpose.
  • the accuracy of the adjustment process of the arm mechanism (for example, a mechanical arm), it can be divided into a coarse adjustment mode and a fine adjustment mode. Both adjustment modes are applicable to the aforementioned control method.
  • the doctor can first control the distal end of the arm mechanism to move to the approximate target position, and then the doctor switches to the fine adjustment mode, and then controls the distal end of the arm mechanism to move to the precise target position.
  • the difference between the coarse adjustment mode and the fine adjustment mode is that, from the perspective of the adjustment range or speed of the arm mechanism, the fine adjustment mode is expressed in that its amplitude or speed is smaller than that of the coarse adjustment mode. It is slower to facilitate precise adjustment by the doctor.
  • the above step S2011 can be performed according to the operation mode and the difference of the parameter information type (associated with the degree of freedom) in the incremental pose information in the fixed coordinate system.
  • the correction coefficients and/or compensation values used to correct the parameter information of the incremental pose information in the fixed coordinate system are reconfigured, wherein the correction coefficients and/or compensation values in the fine adjustment mode are reconfigured.
  • the compensation value is usually smaller than the correction coefficient and/or compensation value in the coarse adjustment mode.
  • an input device can be configured on the main operation console and/or the slave operation device, and the input device is used to output a switching instruction for switching the adjustment mode.
  • the surgical robot includes an input device configured to generate control commands for reconfiguring the task freedom of the distal end of the arm mechanism.
  • the processing system is configured to regenerate freely configurable information about the task freedom of the distal end of the arm mechanism when the control command is acquired. Wherein, the generated information about the task freedom of the distal end of the freely configurable arm mechanism completely matches the configuration information of the task freedom of the arm mechanism configured at the previous moment.
  • the information of the task freedom of the distal end of the arm mechanism is [x,y,z, ⁇ , ⁇ ]
  • the configuration information of the task freedom of the distal end of the arm mechanism used at the previous moment If only [x,y,z, ⁇ ], the new freely configurable arm mechanism distal end task freedom information generated according to the control command is only [x,y,z, ⁇ ].
  • the target pose needs to be adjusted [x, y, z, ⁇ , ⁇ , ⁇ ]. If the doctor finds that the two vectors of x and y have reached expectations, they can trigger the above control commands and follow the generated
  • the task degree of freedom information of the new configurable arm mechanism is used to reconfigure the task degree of freedom of the distal end of the arm mechanism to [z, ⁇ , ⁇ , ⁇ ], so as to use the aforementioned control method of the arm mechanism to adjust z, Continue to adjust ⁇ , ⁇ , ⁇ , and further, if it is difficult to adjust [z, ⁇ , ⁇ , ⁇ ] together, you can reconfigure the task freedom of the distal end of the arm mechanism and use the aforementioned arm mechanism
  • the control method adjusts [z, ⁇ , ⁇ , ⁇ ] one by one, until the distal end of the arm mechanism is completely moved to the target posture.
  • the aforementioned input devices configured on the master console (including the motion input device 11) and/or the slave operation device for various purposes include, but are not limited to, touch screens, buttons, knobs, pedals, and voice recognition modules. They can be used in combination or individually; they can be the same or multiple. For example, most of the input devices are arranged at the main operating console, so that the doctor does not need to leave the current position to operate. For example, most input devices can use a voice recognition module to generate and output corresponding control commands based on the voice of the recognized doctor, and then select the corresponding mode. In this way, the structure of the surgical robot is relatively simple, and the hands and feet are liberated, which can be realized. More continuity (that is, without interrupting the current operation) operation.
  • the method described in the foregoing embodiment is suitable for controlling the image end device 34A and the operating end device 34B, so that the controlled end device maintains its current position and/or posture unchanged.
  • the above-mentioned embodiments are suitable for controlling end instruments in a surgical robot of the type shown in FIG. 1.
  • This type of surgical robot includes a mechanical arm 21 and one or more operating arms 31 with end instruments 34 installed at the distal end of the mechanical arm 21, and both the mechanical arm 21 and the operating arm 31 have several degrees of freedom.
  • the above-mentioned embodiments are also suitable for controlling end instruments in a surgical robot of the type shown in FIG. 20.
  • This type of surgical robot includes a main arm 32', one or more adjustment arms 30' installed at the distal end of the main arm 32', and one or more operating arms 31 with end instruments installed at the distal end of the adjustment arm 30' ', the main arm 32', the adjusting arm 30' and the operating arm 31' all have several degrees of freedom.
  • four adjustment arms 30' can be provided, and each adjustment arm 30' can be provided with only one operation arm 31'.
  • each adjustment arm 30' in the type of surgical robot shown in FIG. 20 can be regarded as The manipulator arm 21 in the surgical robot of the type shown in FIG. 1 performs control; for another example, according to the configuration, any adjustment arm 30' and the main arm 32' of the surgical robot of the type shown in FIG. It is considered that the robotic arm 21 in the surgical robot of the type shown in FIG. 1 performs control.
  • the entire adjustment arm 30' and its corresponding operating arm 31' are regarded as the operating arm 31 in the surgical robot of the type shown in FIG. 1 for control.
  • the above-mentioned control method of a surgical robot is usually configured to be implemented in a control device of the surgical robot.
  • the control device includes a memory and more than one processor.
  • the memory is used to store a computer program, and the processor is used to load and execute A computer program is used to implement the control method as described in any of the above embodiments.
  • a computer-readable storage medium stores a computer program configured to be executed by more than one processor to implement the control method described in any one of the above embodiments. step.

Abstract

一种手术机器人及其末端器械（34）的控制方法、控制装置，控制装置用于执行获取在第一坐标系的机械臂（21）远端的第一目标位姿信息及各受控末端器械（34）的当前位姿信息（S1）；在机械臂（21）远端到达第一目标位姿信息对应的目标位姿的条件下，换算各受控末端器械（34）的当前位姿信息获得在第二坐标系的第二目标位姿信息（S2）；根据第一目标位姿信息控制机械臂（21）中各关节组件（210～214）联动使机械臂（21）远端到达与第一目标位姿信息对应的目标位姿，并根据各第二目标位姿信息控制相应操作臂（31）中各关节组件联动使相应受控末端器械（34）保持当前位置及/或姿态（S3）。手术机器人能够在调整机械臂（21）远端的同时保持各受控末端器械（34）的当前位姿不变。

Description

手术机器人及其末端器械的控制方法、控制装置
本申请要求于2019年09月10日提交中国专利局、申请号为CN2019108541118.3、申请名称为“手术机器人及其末端器械的控制方法、控制装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及微创手术医疗器械领域，特别是涉及一种手术机器人及其末端器械的控制方法、控制装置。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台包括手柄，医生通过操作手柄向从操作设备发送控制命令，从操作设备包括机械臂及安装于机械臂远端的多个操作臂，操作臂具有末端器械，在工作状态时，末端器械跟随手柄移动，以实现远程手术操作。
手术过程中，调整机械臂远端往往会带着具有末端器械的操作臂一起移动，而末端器械中尤其是操作末端器械这样的类型，其位置及/或姿态的变化容易对患者造成不适或意外创伤的安全性问题。
发明内容
基于此，有必要提供一种在手术过程中安全且易于调整机械臂的手术机器人中末端器械的控制方法，及基于该方法的控制装置、计算机可读存储介质和手术机器人。
一方面，提供一种手术机器人中末端器械的控制方法，所述手术机器人包括机械臂，所述机械臂远端装设有一个以上具有末端器械的操作臂，所述末端器械中有一个以上被配置为受控末端器械，所述控制方法包括如下步骤：获取所述机械臂远端在第一坐标系的第一目标位姿信息及各所述受控末端器械在第一坐标系的当前位姿信息，第一坐标系指所述机械臂的基坐标系；在所述机械臂远端到达所述第一目标位姿信息对应的目标位姿的条件下，分别换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息，第二坐标系指所述机械臂的工具坐标系；根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态不变。
其中，在获取各受控末端器械在第一坐标系的当前位姿信息的步骤之前，包括：获取操作人员输入的选择指令，并根据所述选择指令从所述末端器械中选择一个以上作为所述受控末端器械。
其中，在换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息的步骤之后，包括：判断各所述第二目标位姿信息是否均为有效；如果判断均为有效，进入根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态不变的步骤。
其中，在判断各所述第二目标位姿信息是否均为有效的步骤之中，包括：对各所述第二目标位姿信息是否有效进行判断，并分别获取相应的判断结果；根据获取的判断结果判断各所述第二目标位姿信息是否均为有效。
其中，在对各所述第二目标位姿信息是否有效进行判断的步骤之中，包括：对各所述第二目标位姿信息进行解析，以分别获取对应的各所述操作臂 中各关节组件的目标运动状态参数；将各所述操作臂中各关节组件的目标运动状态参数分别与所述操作臂中各关节组件的运动状态阈值进行比较；如果相应所述操作臂中各关节组件的目标运动状态参数均未超过所述操作臂中各关节组件的运动状态阈值，判断相应所述第二目标位姿信息为有效；否则，判断相应所述第二目标位姿信息为无效。
其中，所述运动状态参数包括位置参数、速度参数及加速度参数，所述运动状态阈值包括位置参数阈值、速度参数阈值及加速度参数阈值。
其中，在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，包括：获取所述机械臂远端的任务自由度的配置信息；根据所述机械臂远端的任务自由度的配置信息获取所述机械臂远端在第一坐标系的、且关联于相应任务自由度的第一目标位姿信息。
其中，所述机械臂远端的任务自由度的配置信息关联于位置信息及/或姿态信息。
其中，在获取各受控末端器械在第一坐标系的当前位姿信息的步骤之中，包括：获取各所述受控末端器械的任务自由度的配置信息；根据各所述受控末端器械的任务自由度的配置信息获取各受控末端器械在第一坐标系的、且关联于相应任务自由度的当前位姿信息。
其中，所述受控末端器械被配置为两个以上时，各所述受控末端器械的任务自由度的配置信息是相同的，所述任务自由度的配置信息关联于位置自由度及/或姿态自由度。
其中，在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，包括：获取施加于所述机械臂上用以拖动所述机械臂远端运动的外力的六维力/力矩矢量；将所述外力的六维力/力矩矢量解析为所述机械臂远端在第一坐标系的增量位姿信息；获取所述机械臂远端在第一坐标系的当前位姿信息；根据所述机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出所述第一目标位姿信息。
其中，在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中， 包括：获取运动输入设备输入的运动信息；将所述运动信息解析为所述机械臂远端在第一坐标系的增量位姿信息；获取所述机械臂远端在第一坐标系的当前位姿信息；根据所述机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出所述第一目标位姿信息。
其中，在获取机械臂远端在第一坐标系的第一目标位姿信息及各所述受控末端器械在第一坐标系的当前位姿信息的步骤之前，包括：获取描述所述机械臂及装设于所述机械臂远端且具有所述受控末端器械的所述操作臂的结构特征的描述信息，并根据所述描述信息生成模拟所述机械臂及相应所述操作臂的结构的模型图像。
其中，在对各所述第二目标位姿信息是否有效进行判断，并分别获取相应的判断结果的步骤之后，包括：改变所述模型图像中第二目标位姿信息被判断为无效的相应所述受控末端器械对应的所述操作臂的色彩。
另一方面，提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被配置为由一个以上的处理器执行实现如上述任一项实施例所述的控制方法的步骤。
另一方面，提供一种手术机器人中末端器械的控制装置，包括：存储器，用于存储计算机程序；处理器，用于加载并执行所述计算机程序；其中，所述计算机程序由所述处理器加载并执行实现如上述任一项实施例所述的控制方法的步骤。
另一方面，提供一种手术机器人，包括：机械臂；装设于所述机械臂远端的一个以上的具有末端器械的操作臂，所述末端器械包括图像末端器械及/或操作末端器械；及控制装置；所述控制装置用于执行实现如上述任一项实施例所述的控制方法的步骤。
本申请具有如下有益效果：
根据机械臂远端在第一坐标系的第一目标位姿信息及各受控末端器械在第一坐标系的当前位姿信息计算出各受控末端器械在第二坐标系的第二目标位姿信息，进而利用机械臂远端的第一目标位姿信息及各受控末端器械的第 二目标位姿信息控制它们联动，能够在调整机械臂远端的同时保持各受控末端器械的当前位姿不变，其使用方便、安全。
附图说明
图1为本申请手术机器人一实施例的结构示意图；
图2为图1所示手术机器人的局部示意图；
图3为图1所示手术机器人的局部示意图；
图4为本申请手术机器人的控制方法一实施例的流程图；
图5为本申请手术机器人一实施例使用状态下的简易示意图；
图6为本申请手术机器人的控制方法一实施例的流程图；
图7为本申请手术机器人的控制方法一实施例的流程图；
图8为本申请手术机器人的控制方法一实施例的流程图；
图9为图1所示手术机器人臂体机构中机械臂的原理示意图；
图10为本申请手术机器人的控制方法中对空间运动角度的解析示意图；
图11为本申请手术机器人的控制方法一实施例的流程图；
图12为本申请手术机器人的控制方法一实施例的流程图；
图13为本申请手术机器人的控制方法在一对一操作模式下的流程图；
图14为本申请手术机器人的控制方法在一对一操作模式下的操作示意图；
图15为本申请手术机器人的控制方法在二对一操作模式下一实施例的流程图；
图16为本申请手术机器人的控制方法在二对一操作模式下的操作示意图；
图17为本申请手术机器人的控制方法一实施例的流程图；
图18为本申请手术机器人的控制方法一实施例的流程图；
图19为本申请手术机器人的控制方法在二对一操作模式下另一实施例的操作示意图；
图20为本申请手术机器人另一实施例的结构示意图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件，它可以是直接耦合到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。在本申请中，“各”包括一个及以上。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1至图3所示，其分别为本申请手术机器人一实施例的结构示意图，及其局部示意图。
手术机器人包括主操作台1及从操作设备2。主操作台1具有运动输入设备11及显示器12，医生通过操作运动输入设备11向从操作设备2发送控制命令，以令从操作设备2根据医生操作运动输入设备11的控制命令执行相应操作，并通过显示器12观察手术区域。其中，从操作设备2具有臂体机构， 臂体机构具有机械臂21及可拆卸地装设于机械臂21远端的操作臂31。机械臂21包括依次连接的基座及连接组件，连接组件具有多个关节组件。操作臂31包括依次连接的连杆32、连接组件33及末端器械34，其中，连接组件33具有多个关节组件，操作臂31通过调节关节组件调节末端器械34的姿态；末端器械34具有图像末端器械34A及操作末端器械34B。其中，机械臂21及/或操作臂31可跟随运动输入设备11运动。
例如，运动输入设备11可以通过连线与主操作台1连接，或通过旋转的连杆与主操作台1相连接。运动输入设备11可以被配置为手持式或穿戴式(常佩戴于手腕远端如手指或手掌处)，其具有多个有效自由度。示例性的，该运动输入设备11被配置为图3所示的手柄形式。一种情况下，运动输入设备11的有效自由度的数量被配置为低于定义于臂体机构远端任务自由度的数量；另一种情况下，运动输入设备11的有效自由度的数量被配置为不低于臂体机构远端的任务自由度的数量。为了可以不受约束地跟随医生手部自由移动及转动，运动输入设备11示例性地被配置为具有6个有效自由度，其中，运动输入设备11的有效自由度指可跟随手部运动的有效自由度，令医生具有较大的操作空间，且可以通过对各有效自由度的解析产生更多有意义的数据，满足对几乎所有构型的机械臂21的控制。
该运动输入设备11跟随医生手部运动，实时采集手部运动造成的运动输入设备自身运动的运动信息。利用这些运动信息可以解析出位置信息、姿态信息、速度信息及加速度信息等。运动输入设备11包括但不限于磁导航定位传感器、光学定位传感器、或者连杆式主操作手等。
一实施例中，提供一种手术机器人中末端器械的控制方法。如图4所示，该控制方法包括如下步骤：
步骤S1，获取机械臂远端在第一坐标系的第一目标位姿信息及各受控末端器械在第一坐标系的当前位姿信息。
该第一坐标系指机械臂的基坐标系。受控末端器械是指定的为保持当前位置及/或姿态不变而需要受到被动控制的末端器械。末端器械中还包括非受 控操作末端器，非受控末端器械是未指定的跟随机械臂远端运动而无需保持当前位置及/或姿态不变而不需要受到被动控制的末端器械。在步骤S1之前，包括获取操作人员输入的选择指令，并根据选择指令从末端器械中选择一个以上作为受控末端器械。当然，系统也可以默认一个以上(包括全部)的末端器械为受控末端器械。
步骤S2，在机械臂远端到达第一目标位姿信息对应的目标位姿的条件下，分别换算各受控末端器械在第一坐标系的当前位姿信息获得相应受控末端器械在第二坐标系的第二目标位姿信息。
该第二坐标系指机械臂的工具坐标系。
步骤S3，根据第一目标位姿信息控制机械臂中各关节组件联动以使机械臂远端到达与第一目标位姿信息对应的目标位姿，并分别根据各第二目标位姿信息控制相应操作臂中各关节组件联动使相应受控末端器械保持当前位置及/或姿态不变。
通过上述步骤S1～S3，即根据机械臂21远端在第一坐标系的第一目标位姿信息及各受控末端器械34在第一坐标系的当前位姿信息计算出各受控末端器械34在第二坐标系的第二目标位姿信息，进而利用机械臂21远端的第一目标位姿信息及各受控末端器械34的第二目标位姿信息控制它们联动，能够在调整机械臂21远端的同时保持各受控末端器械34的当前位姿不变，其使用方便、安全。
一实施例中，具体在步骤S2之中，示例性地可以通过如下公式计算出各受控末端器械34在第二坐标系的第二目标位姿信息：
公式(1):
Figure PCTCN2020114115-appb-000001
其中，
Figure PCTCN2020114115-appb-000002
是受控末端器械An在第二坐标系的第二目标位姿信息，
Figure PCTCN2020114115-appb-000003
是机械臂远端在第一坐标系的当前位姿信息，
Figure PCTCN2020114115-appb-000004
是受控末端器械An在第一坐标系的第一目标位姿信息，B是机械臂的基坐标系，T是机械臂的工具坐标系。实质上，这个公式可以通过这样的文字描述来理解，即在机械臂21远端 到达机械臂21远端在第一坐标系的第一目标位姿信息对应的目标位姿的条件下，换算受控末端器械34在第一坐标系的当前位姿信息获得该受控末端器械34在第二坐标系的第二目标位姿信息。
应当理解的是，这里的推导主要是从原理方面着手进行分析论证的，忽略了机械臂21及操作臂31各自关节组件的矩阵变换关系，本领域技术人员根据该方法应当极其容易获得受控末端器械34在第二坐标系的第二目标位姿信息。
在如图5所示的单孔手术机器人一实施例使用状态下的简易示意图中，机械臂21远端举例装设有3个具有操作末端器械34B的操作臂31，假设该三个操作臂31的操作末端器械A1、A2及A3均被配置为受控末端器械，由于它们拥有共同的第一坐标系，因此分别可以采用上述公式(1)生成各自的计算公式，具体如下：
公式(2):
Figure PCTCN2020114115-appb-000005
公式(3):
Figure PCTCN2020114115-appb-000006
公式(4):
Figure PCTCN2020114115-appb-000007
进而，根据公式(2)～(4)可以分别求解出受控末端器械A1、A2及A3在第二坐标系的第二目标位姿信息。
一实施例中，继续参阅图4，在步骤S2之后，包括：
步骤S4，判断各受控末端器械的第二目标位姿信息是否均为有效(即是否为有效解)。
其中，如果在判断得到各第二目标位姿信息均为有效时，进入前述步骤S3；而如果在判断得到有一个以上的第二目标位姿信息为无效时，进入步骤S5。
步骤S5，结束控制。
也即，只有在计算出的各第二目标位姿信息均是有效解的情况下才被允许实现上述的联动控制目的。而在任何一个第二目标位姿信息没有有效解的情况下则通常不允许对机械臂21及操作臂31进行前述的联动控制。
在一些实施例中，也可以在上述步骤S4中，允许判断为有效的受控末端器械34在调节机械臂21时保持位置及/或姿态不变，而判断为无效的受控末端器械34跟随机械臂21运动。
在一些实施例中，也可以在多个第二目标位姿信息被判断为无效时，可以先调整其中一个为有效，然后根据被调整为有效的第二目标位姿信息及受控末端器械34在第一坐标系的当前位姿信息重新计算机械臂21在第一坐标系的第一目标位姿信息，之后，再根据调整后的机械臂21在第一坐标系的第一目标位姿信息及其余未调整的受控末端器械34在第一坐标系的当前位姿信息利用如上述公式(1)计算其各自在第二坐标系的第二目标位姿信息。可以重复上述步骤进行循环计算，直至计算出的各第二目标位姿信息均为有效；或者，可以设置重复上述步骤进行循环计算的次数，若仍不能满足各第二目标位姿信息均为有效，则结束控制。
一实施例中，如图6所示，具体在上述步骤S4之中，包括：
步骤S41，对各受控末端器械的第二目标位姿信息是否有效分别进行判断。
步骤S42，根据对各受控末端器械的第二目标位姿信息的判断结果来判断是否均为有效。
具体而言，如图7所示，在上述步骤S41之中，包括：
步骤S411，对相应受控末端器械的第二目标位姿信息进行解析以获取其对应的操作臂中各关节组件的目标运动状态参数。
其中，该运动状态参数可以是位置参数、速度参数及/或加速度参数。其中，位置参数可以由相应的目标位姿信息直接解析得到，速度参数及/或加速度参数均可以由这些位置参数及产生这些位置参数所经过的时间计算得到，或者相应也可以借助速度传感器、加速度传感器测量得到。
步骤S412，将操作臂中各关节组件的目标运动状态参数分别与操作臂中各关节组件的运动状态阈值进行比较以确定相应第二目标位姿信息是否有效。
在控制机械臂21和操作臂31的联动过程考虑到平滑性和可靠性，该运动状态参数通常所指为位置参数、速度参数及加速度参数，那么在该步骤S422中，具体即将相应操作臂31中每个关节组件的位置参数、速度参数及加速度参数分别与该相应关节组件的位置参数阈值、速度参数阈值及加速度参数阈值分别进行比较。当然，在一些实施例中，该运动状态参数还可指位置参数、速度参数及加速度参数中的一个或两个，比如，该运动状态参数仅包括位置参数。
通过将操作臂31各关节组件的运动状态参数与基于调整对象结构特征和性能参数及/或自定义设置的各关节组件的运动状态阈值进行逐一比较，来确定操作臂31的第二目标位姿信息是否有效，能够有效保护操作臂31，提高其使用寿命。示例性的，即使通过比较调整对象中各关节组件的位置参数(即运动行程)在其相应关节组件的位置参数阈值(即运动行程范围)以内，然而其速度参数及/或加速度参数超过速度参数阈值及/或加速度参数阈值，反映了其调节速度过快及/或速度变化过快，进而有可能影响安全使用而被判定为无效。
其中，如果操作臂31中各关节组件的目标运动状态参数均未超过操作臂31中各关节组件的运动状态阈值，则判断该第二目标位姿信息为有效；而如果操作臂31中各关节组件的目标运动状态参数中有一项以上超过操作臂31中各关节组件的运动状态阈值，则判断该第二目标位姿信息为无效。
值得注意的是，在某些使用场景下，机械臂21运动时，需要确保机械臂21运动时使机械臂21远端绕不动点(远端运动中心，Remote Center of Motion)运动，即做RCM约束运动，具体可以通过对机械臂远端的任务自由度进行设置来确保实现，该任务自由度仅与姿态自由度相关。
该不动点与机械臂远端具有一个相对固定的位置关系。根据具体的控制 目的，一些实施例中第二坐标系的原点可以是该不动点，其他实施例中第二坐标系的原点也可以是机械臂远端上的某一点。
可以在机械臂21远端与操作臂31连接处设置与处理系统连接的检测单元，该检测单元用于在穿刺器可靠连接于机械臂21远端时产生令机械臂21远端绕不动点运动的触发信号。处理系统在检测到触发信号时自动设置相应任务自由度以控制机械臂21远端进行RCM约束运动。当然，也可以由医生等操作人员通过主动设置相应任务自由度以控制机械臂21远端进行RCM约束运动。此外，该触发信号也可以由操作人员通过输入装置如按钮输入。
另外，根据设定，操作臂31远端也可以具有不动点，操作臂31的不动点不同于机械臂21的不动点，操作臂31所具有的末端器械34经配置也可以绕操作臂31的不动点运动，即进行RCM约束运动。
根据对机械臂远端及/或操作臂远端任务自由度的配置，可以对机械臂远端及/或操作臂远端进行RCM约束控制，以适用于多种使用场景。
一实施例中，处理系统经配置可选择性地控制受控末端器械34保持位置不变及/或姿态不变。处理系统具体对受控末端器械34进行何种控制可以根据医生输入的控制指令来进行选择。该控制指令实质上体现了医生对受控末端器械34的任务自由度所进行的配置。
上述对于机械臂21及各操作臂31的控制可以在缺少视野也即缺少具有图像末端器的操作臂31的情况下进行。更优地，上述的控制可以在存在装设于机械臂21远端的具有图像末端器械34A的操作臂31的情况下进行，且这也与实际手术过程更相符合。通常，该方法不需要对具有图像末端器械34A的操作臂31进行如上述相同原理的控制，而是让该具有图像末端器械34A的操作臂31直接跟随机械臂21远端的运动而运动，这样可以让医生能够非常直观地观察到由于机械臂21被调整而导致的视野的变化，也即，医生可以通过控制机械臂21远端运动而调整视野，并利用该视野对具有受控操作末端器械34B的操作臂31进行安全、准确地控制。在一些实施例中，由于调整图像末端器械34A的同时可以保持各受控操作末端器械34B位姿不变，通过间 歇性先后分别对图像末端器械34A及对各受控操作末端器械34B进行调整，可以起到便利地扩大手术操作空间的作用。
一实施例中，假设只可以对操作末端器械34B进行如上宗旨的控制而让图像末端器械34A跟随机械臂21远端移动以提供实时变化的视野，也即只可以将操作末端器械34B配置为上述的受控末端器械的情况下，在上述步骤S1之前，包括：
识别装设于机械臂远端的各操作臂所具有的末端器械的类型，并在识别出相应操作臂具有受控操作末端器械之后，进入步骤S1。
具体而言，需要在操作臂31安装于机械臂21远端时先获取相应操作臂31的描述信息，该描述信息包括其上所设置的末端器械34的类型信息；之后，再根据获取的这些描述信息来识别出具有受控操作末端器械34B的操作臂31，据此进入步骤S1，以自动对具有受控操作末端器械34B的操作臂31进行本申请期望实现的目的那样的控制。其中，该描述信息通常还包括操作臂31的连杆参数。处理系统对于该描述信息的获取举例可以通过数据接口或感应装置来实现，相应的，这些描述信息存储于操作臂31的芯片(包括存储器、电子标签等)中。
一实施例中，具体在上述步骤S1中，对于如何获取各受控末端器械34在第一坐标系的当前位姿信息举例可以通过获取相应操作臂31各关节组件的关节角等信息并利用正运动学求解出来。
一实施例中，具体在上述步骤S1中，对于如何获取机械臂21远端的第一目标位姿信息可以通过如图8所示的步骤进行：
步骤S11，获取医生对机械臂的操作信息，并将操作信息解析并映射为机械臂远端在第一坐标系的增量位姿信息。
其中，该操作信息可以是由医生施加于机械臂远端以拖动机械臂远端运动的外力所产生的外力信息(如六维力/力矩矢量)；或者，该操作信息可以是运动输入设备11遥操作机械臂远端运动输入的其自身的运动信息。
步骤S12，获取机械臂远端在第一坐标系的当前位姿信息。
步骤S13，根据机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出其目标位姿信息。
应当理解的是，上述步骤S11～S13所记载的方法同样适合对各操作臂31进行遥操作，比如可以让机械臂21不动，而只控制操作臂31运动；或者将机械臂21和操作臂31视为一串联结构的臂体机构而进行整体控制。这两种示例实现与本申请不同的发明目的。
本申请主要以操作信息为运动信息为例进行详细说明。
进而上述步骤S11具体为：
获取运动输入设备输入的运动信息，并将运动信息解析并映射为机械臂远端在第一坐标系的增量位姿信息。
该步骤主要是对前后时刻的运动信息进行解析，该前后时刻可以是前后相邻的时刻，或前后相间隔一定时长的时刻。一种方式中，通过计算出后一时刻的运动信息相对于前一时刻的运动信息在固定坐标系的位姿变化，即增量位姿信息。然后将固定坐标系的增量位姿信息映射为末端器械34在参考坐标系的增量位姿信息。示例性的，该固定坐标系举例可以定义在显示器处，当然，该固定坐标系也可以定义在手术机器人中其它部位，该部位至少在工作时不可动。其中，“映射”表示一种对应转换的关系。
进而上述步骤S12可以包括：
首先，获取机械臂各关节组件的位置信息。具体可通过装设于关节组件处的位置传感器如编码器获取相应的位置信息。在以图1及图9示意的实施例中，该机械臂21具有5个自由度，借助各位置传感器能够采集到这样一组位置信息(d1，θ 2，θ 3，θ 4，θ 5)。
然后，根据各关节组件的位置信息计算出机械臂的当前位姿信息。其中，通常可以结合正运动学来进行计算。建立机械臂21的不动点(即C点处，机械臂21的工具坐标系的原点在不动点上)至机械臂21的基座的运动学模型，输出C点与基座的模型转换矩阵
Figure PCTCN2020114115-appb-000008
计算方法为
Figure PCTCN2020114115-appb-000009
根据C点与基座的模型转换矩阵
Figure PCTCN2020114115-appb-000010
获取C点在固定坐标系的位姿信息。 假设在不改变C点位置的情况下，旋转C点的坐标系，使其达到模型转换矩阵所描述的姿态，可得到旋转轴角度[θ x0,θ y0,θ z0]，如图10所示。θ x0为滚动角，θ y0为偏航角，θ z0为俯仰角，而在图9所示的机械臂21中，缺乏滚动角的自由度进而实际上θ x0不可调。
一实施例中，如图11所示，可以通过位置控制方法实现机械臂21远端和受控末端器械34的联动。具体而言，在步骤S3之中，包括：
步骤S31，根据臂体机构的目标位姿信息计算出臂体机构各关节组件的目标位置信息。
其中，通常可以结合逆运动学来进行计算。
步骤S32，根据各关节组件的目标位置信息控制臂体机构各关节组件联动以使臂体机构远端运动至目标位姿。
应当理解的是，这里的臂体机构可以是机械臂21及/或操作臂31，对于机械臂21和操作臂31均按照步骤S31～S32进行。
进一步地，如图12所示，为了反映对于臂体机构的主动控制是医生的真实意图，可以在步骤S1之前，进行：
步骤S100，检测是否获取到开始主动控制的启动命令。
其中，该启动命令可以由主动控制开关输入。在检测获取到该启动命令之后进入上述的步骤S1。
并且，在步骤S3之后，进行：
步骤S101，检测是否获取到停止主动控制的结束命令。
其中，该结束命令同样可以由该主动控制开关输入。在检测获取到该结束命令之后，结束对臂体机构的控制；否则，重新进入到步骤S1～步骤S101。
上述的主动控制开关可被配置为脚踏开关，按键开关，主操作手开关等。
进一步地，为了更加贴合医生对于臂体机构的主动控制的真实意图，可以在步骤S1之前，进行：
检测手术机器人是否处于医生的操作状态中。
该步骤可以通过在主操作台设置检测头部是否贴近的接近开关来实现。 在贴近开关检测到头部靠近后，满足启动条件，进入步骤S1。或者，也可以通过设置语音识别模块，根据医生的启动语音指令来确认启动，从而进入步骤S1。
一实施例中，可以为机械臂21远端和各受控末端器械34分别进行任务自由度的配置以生成配置信息，且各受控末端器械34的任务自由度的配置信息通常被配置为相同。
对于机械臂21远端的任务自由度的配置可被理解为使能功能，即允许机械臂21远端运动的自由度。举例可以在前述步骤S11中，结合机械臂21远端的任务自由度的配置信息对操作信息(即外力信息或运动信息)进行解析并映射为机械臂21在第一坐标系的增量位姿信息，其中，任务自由度由操作人员根据使用场景进行设定，即操作人员根据需求设定机械臂远端可调节的位置及/或姿态。
而对于受控末端器械34的任务自由度的配置可被理解为禁用功能，即禁止末端器械34可以运动的自由度，结合前文，通过该配置可以保持受控末端器械34的位置及/或姿态不变。举例可以在前述步骤S12中，结合受控末端器械34的任务自由度的配置信息分别计算出各第二目标位姿信息。
应当理解的是，在其它实施例中，比如，在前文所描述的间歇性先后控制机械臂21及操作臂31运动的情况下，尤其是单独对各操作臂31进行遥操作时，可以重新为各受控末端器械34配置相同或不同的任务自由度，以实现不同的发明目的，此时，为了确保安全，通常要求医生在具有视野的条件下来对这些操作臂31进行遥操作。
上述对于机械臂21远端及末端器械34的任务自由度的配置，举例可以由医生自由地配置，比如通过预先生成的含有可供配置的任务自由度的人机交互界面来设置。
具体而言，臂体机构(机械臂21及/或操作臂31)远端的任务自由度可被理解为臂体机构远端在笛卡尔空间允许运动的自由度，其至多为6个。臂体机构远端在笛卡尔空间实际具有的自由度为有效自由度，臂体机构远端的 有效自由度与其构型(即结构特征)相关，臂体机构远端的有效自由度可被理解为臂体机构远端在笛卡尔空间内可实现的自由度。末端器械34可供配置的任务自由度与机械臂21及操作臂31总的有效自由度相关联，该机械臂21和操作臂31可以视为一个串联臂体机构，两者共同作用以提供可供末端器械34配置的任务自由度，其同样至多为6个。臂体机构远端的任务自由度的配置信息即为配置臂体机构远端被允许在哪些自由度进行运动。
对于臂体机构远端的任务自由度的配置信息的利用，在步骤S11可以被解释成在解析时利用，或者在映射时利用。比如其被配置为允许位姿信息中的[x,y,z]这三个自由度运动，无论以何种形式被利用，主要是在最后的目标位姿信息中得到体现，即[x,y,z]这三个自由度跟随操作信息如运动信息或外力信息变化，[α,β,γ]这三个自由度并不跟随运动信息或外力信息变化。其中，x为水平移动任务自由度、y为竖直移动任务自由度、z为前后移动任务自由度、α为偏航角任务自由度、β为俯仰角任务自由度、及γ为滚动角任务自由度。
在如图9所示的机械臂21中，机械臂21的有效自由度包括[x,y,z,α,β]，根据机械臂21中关节组件210～214的结构特性，其在滚动角γ上不具备自由度，连接于机械臂21远端且用于安装和驱动具有末端器械34的操作臂31的动力机构22的任务自由度从机械臂21的有效自由度中进行选择：
若配置动力机构22的任务自由度(即机械臂21远端的任务自由度)的配置信息为[x,y,z,α,β]，则动力机构22的任务自由度的配置信息与机械臂21的有效自由度的信息完全匹配，此时对动力机构22进行的是自由控制，能够控制动力机构22大范围移动以适应手术室布置；
若配置动力机构22的任务自由度的配置信息为[x,y,z,α]或[x,y,z]等时，则动力机构22的任务自由度的配置信息包含于机械臂21的有效自由度的信息内、且不完全匹配，在控制动力机构22时，只可以在[x,y,z,α]或[x,y,z]这几个对应的自由度进行调节，此时对动力机构22进行的是约束控制，能够在限定的范围内对动力机构22进行控制。
尤其是，若配置动力机构22的任务自由度的配置信息为只包括[α,β] 时，这属于约束控制中的RCM约束控制，即绕远程运动中心(即不动点)运动，只可以对偏航角和俯仰角进行调节，能够满足手术过程中的微调。
当然，若机械臂21的有效自由度的信息包括[x,y,z,α,β,γ]，通过对动力机构22的任务自由度的配置，RCM约束控制可总共包括仅对偏航角、仅对俯仰角、仅对滚动角、对偏航角和俯仰角、对偏航角和滚动角、对俯仰角和滚动角、和对偏航角、俯仰角及滚动角进行调节的这多种类型。
在一种配置中，若动力机构22的任务自由度的配置信息只部分包含于机械臂21的有效自由度的信息中，一种较佳的选择是提示配置错误的信息，另一种选择是可以仅允许包含于机械臂21的有效自由度的信息的部分自由度可调。仍以图9所示的机械臂21为例，若动力机构22的任务自由度的配置信息为[y,z,α,β,γ]或[x,y,z,α,β,γ]，一方面可以提示配置错误的信息，另一方面可以允许[y,z,α,β]或[x,y,z,α,β]中进行相应的自由度的调节。这可以根据实际需要进行配置。
手术机器人可以提供一个或多个运动输入设备11。一实施例中，手术机器人提供两个运动输入设备11。为便于操作，两个运动输入设备11提供给两个手来操作，可以是一个人来操作，也可以是两个人来操作。机械臂21可选择性地跟随一个运动输入设备或两个运动输入设备运动，也即机械臂21可以跟随该两个运动输入设备11中的任一个或两个运动，定义一对一操作模式为用一个运动输入设备11来控制一个机械臂21运动，定义二对一操作模式为用两个运动输入设备11来一起控制一个机械臂21运动。在控制一个机械臂21运动时，可以选择采用一对一操作模式或二对一操作模式。对于一对一操作模式而言，可以进一步选择采用哪一个运动输入设备来进行控制。
一实施例中，对于一对一操作模式，举例可以通过公式P n＝KP n获得相应被选择操作的一个运动输入设备11在第n时刻的位姿信息P，其中，K是比例系数，通常，K>0，更佳的，1≥K>0，以实现对位姿的缩放，便于控制。
一实施例中，对于二对一操作模式，举例可以通过公式P n＝K 1P nL+K 2P nR获得相应被选择操作的两个运动输入设备11在第n时刻的位姿信息P，其中， K 1和K 2分别表示不同运动输入设备11的比例系数，通常，K 1>0，K 2>0；更佳的，1≥K 1>0，1≥K 2>0。
计算某前后时刻一对一操作模式或二对一操作模式对应的运动输入设备11的增量位姿信息Δp n_n-1时，根据如下公式计算即可：
Δp n_n-1＝P n-P n-1
当然，通常可以结合机械臂21远端的任务自由度来实现固定坐标系的增量位姿信息到机械臂21远端在第一坐标系的增量位姿信息的映射。
在一实施例中，如图13和图14所示，对于一对一操作模式而言，获取运动输入设备输入的运动信息，并将运动信息解析并映射为机械臂远端在第一坐标系的增量位姿信息的步骤包括：
步骤S111，获取前一时刻运动输入设备的第一位姿信息。
步骤S112，获取后一时刻运动输入设备的第二位姿信息。其中，后一时刻通常可以被理解为当前时刻，而随着时间的变化，这里的后一时刻又相对成为更后一时刻的前一时刻。步骤S111及步骤S112，获取的均是被选择用于一对一操作模式的运动输入设备输入的位姿信息。
步骤S113，根据运动输入设备的第一位姿信息、第二位姿信息计算获取运动输入设备在固定坐标系的增量位姿信息。
步骤S114，将运动输入设备在固定坐标系的增量位姿信息映射为机械臂远端在第一坐标系的增量位姿信息。
增量位姿信息增量位姿信息在一实施例中，结合图15和图16参阅，对于二对一操作模式而言，获取运动输入设备输入的运动信息，并将运动信息解析并映射为机械臂远端在第一坐标系的增量位姿信息的步骤包括：
步骤S111’，分别获取前一时刻两个运动输入设备各自的第一位姿信息。
步骤S112’，分别获取后一时刻两个运动输入设备各自的第二位姿信息。
步骤S113’，结合比例系数及两个运动输入设备各自的第一位姿信息、第二位姿信息计算获取两个运动输入设备在固定坐标系的增量位姿信息。
其中，对于步骤S113’，具体可通过如下步骤实现：
计算一运动输入设备的第一位姿信息和第二位姿信息在固定坐标系的增量位姿信息，并计算另一运动输入设备的第一位姿信息和第二位姿信息在固定坐标系的增量位姿信息；
结合比例系数计算一运动输入设备在固定坐标系的增量位姿信息和另一运动输入设备在固定坐标系的增量位姿信息分别得到该两个运动输入设备在固定坐标系的增量位姿信息。
步骤S114’，将该两个运动输入设备在固定坐标系的增量位姿信息映射为机械臂远端在第一坐标系的增量位姿信息。
其中，在二对一操作模式种，示例性的，该比例系数K 1和K 2均取值为0.5，则获取的增量位姿信息表示的是该两个运动输入设备之间连线的中心点的增量位姿信息。根据实际情况，可以对K 1和K 2进行另外的赋值。
进一步地，若需结合机械臂21远端的任务自由度的配置信息进行考虑。一方面，可以在步骤S113(或步骤S113’)中仅获取运动输入设备11与机械臂21远端的任务自由度相关联的自由度的位姿信息，然后进行步骤S114(或步骤S114’)。另一方面，也可以在步骤S113(或步骤S113’)中获取运动输入设备全部有效自由度的位姿信息，但在步骤S114(或步骤S114’)中将固定坐标系的增量位姿信息中与机械臂21远端的任务自由度相关联的自由度的位姿信息映射为机械臂21远端在第一坐标系的增量位姿信息，而保持与机械臂21远端的任务自由度不相关联的自由度的位姿信息。
一实施例中，可以在实现步骤S114或步骤S114’之中，进行如下步骤：
根据获取到的增量位姿信息中所包含参数的类型(跟任务自由度相关)的不同，对不同参数进行不同方式的修正。如通过设置不同的修正系数来对不同类型的参数进行修正，修正前后的参数可表示为乘除的关系；或可设置不同的补偿值来对不同类型的参数进行修正，修正前后的参数可表示为加减的关系；或者，可以结合设置修正系数和补偿值的方式共同对不同类型的参数进行修正，修正前后的参数可表示为包括乘除和加减的关系。
对不同参数进行不同方式的修正的步骤可以在步骤S111～S114(步骤 S111’～S114’)之间的任意步骤内进行。例如可建议在步骤S114(或步骤S114’)中进行。该步骤能够更准确地反映医生的操作意图降低误操作的影响，并且能够对由于手部灵活性因素造成的部分转动角度不可达的问题进行补偿，实现任意角度可调。
值得注意的是，由于一对一操作模式和二对一操作模式在习惯或灵活性上有所不同，即使采用相同的修正方式对增量位姿信息中不同类型的参数进行修正，可以为这两种操作模式设置不同的修正系数及/或补偿值。
一对一操作模式和二对一操作模式均适用于机械臂远端不同任务自由度的情况。而从便捷性和准确性的角度考虑，一对一操作模式比较适合于机械臂远端任务自由度较多(如4任务自由度以上)的情况，二对一操作模式比较适合于机械臂远端任务自由度较少(如3任务自由度以内)的情况。
比如，采用二对一操作模式时，可便捷准确地进行RCM约束控制，此时只需要解析运动信息所包含的位置信息并映射为机械臂21的姿态信息即可，易于利用该两个运动输入设备11进行控制。
举例而言，可以将两个运动输入设备11在水平方向上的平移运动信息解析并映射为机械臂21在第一坐标系的偏航角增量信息，将两个运动输入设备11在竖直方向上的平移运动信息解析并映射为机械臂21在第一坐标系的俯仰角增量信息，将两个运动输入设备11在任意平面如竖直平面上的转动运动信息解析并映射为机械臂21在第一坐标系的滚动角增量信息，示例性的，如图17所示，该两个运动输入设备11在固定坐标系的水平移动增量信息、竖直移动增量信息及转动增量信息可通过如下步骤进行：
步骤S231，分别获取前一时刻两个运动输入设备各自的第一位置信息。
步骤S232，分别获取后一时刻两个运动输入设备各自的第二位置信息。
步骤S233，结合比例系数及两个运动输入设备各自的第一位置信息、第二位置信息计算获取两个运动输入设备在固定坐标系的水平移动增量信息、竖直移动增量信息及转动增量信息。
其中，在步骤S233中，固定坐标系的水平移动增量信息和竖直移动增量 信息可以参照前文方法计算获取，而固定坐标系的转动增量信息举例可以通过如下方式计算获取，具体如图18及图19所示：
步骤S2331，建立前一时刻两个运动输入设备之间的第一位置向量。
步骤S2332，建立后一时刻两个运动输入设备之间的第二位置向量。
步骤S2333，结合比例系数计算第一位置向量与第二位置向量之间的夹角进而获取该两个运动设备在固定坐标系的转动增量信息。
步骤S2334，将该两个运动设备在固定坐标系的水平移动增量信息、竖直移动增量信息及转动增量信息一对一映射为机械臂远端的偏航角增量信息、俯仰角增量信息及滚动角增量信息。
其中，可以在主操作台及/或从操作设备中配置一输入装置，该输入装置用于输出切换映射关系的控制命令。例如，映射关系包括自然映射关系和非自然映射关系。
其中，可以定义自然映射关系为将由运动信息解析获取的在固定坐标系的增量位姿信息按照其参数的类型一对一的映射至机械臂21远端在第一坐标系的增量位姿信息，具体即将固定坐标系的水平移动增量信息映射为机械臂21在第一坐标系的水平移动增量信息、将固定坐标系的竖直移动增量信息映射为机械臂21在第一坐标系的竖直移动增量信息、将固定坐标系的前后移动增量信息映射为机械臂21在第一坐标系的前后移动增量信息、将固定坐标系的偏航角增量信息映射为机械臂21在第一坐标系的偏航角增量信息、将固定坐标系的俯仰角增量信息映射为机械臂21在第一坐标系的俯仰角增量信息、及将固定坐标系的滚动角增量信息映射为机械臂21在第一坐标系的滚动角增量信息。这些均可以根据机械臂21的任务自由度的配置信息进行择取。
非自然映射关系为自然映射关系之外的映射关系，一实例中，该非自然映射关系包括但不限于转换映射关系，其包括但不限于前述的将固定坐标系的水平移动增量信息、竖直移动增量信息及转动增量信息一对一映射为机械臂21的偏航角增量信息、俯仰角增量信息及滚动角增量信息。配置成非自然映射关系能够在如二对一操作模式等某些情况下较容易地对机械臂21进行 控制。
结合获取的机械臂21远端的任务自由度的配置信息、及/或操作模式的类型信息、及/或映射关系的类型信息，解析运动信息并映射为机械臂21远端在第一坐标系的增量位姿信息。进而，医生能够根据自身习惯设置易于理解和方便操作的方式。
在一些实施例中，运动输入设备11的有效自由度也可能小于6，然而，只要运动输入设备11的有效自由度不小于机械臂21的任务自由度，就可以采用前述的一种或多种方法来解析运动信息并映射为机械臂21远端在第一坐标系的增量位姿信息，以达到控制目的。
一实施例中，按照对臂体机构(例如机械臂)调整过程的精确度，可以分为粗调模式和精调模式。该两个调整模式均适用于前述的控制方法。在粗调模式中，医生可以先控制臂体机构远端运动至大概的目标位姿，然后由医生切换至精调模式，进而控制臂体机构远端运动至精确的目标位姿。更具体地，粗调模式与精调模式之间的区别在于，从对臂体机构的调节幅度或速度上来看，精调模式相较于粗调模式而言表现在其幅度更小或其速度更慢，以易于医生的精确调节。具体地，无论是一对一操作模式还是二对一操作模式，可以在上述步骤S2011的根据操作模式及固定坐标系下的增量位姿信息中参数信息类型(与自由度关联)的不同进行相应的修正的子步骤中，对用于修正固定坐标系下的增量位姿信息各参数信息的修正系数及/或补偿值进行重新配置，其中，该在精调模式中的修正系数及/或补偿值相对于在粗调模式中的修正系数及/或补偿值通常要更小。
同样，要实现粗调模式与精调模式之间的切换，可以在主操作台及/或从操作设备上配置一个输入装置，该输入装置用于输出切换调整模式的切换指令。
较佳的，如果医生在调节臂体机构远端运动至目标位姿的过程中，发现一个以上的矢量已经达到了目标位姿，可以对臂体机构远端的任务自由度进行重新配置，以仅调节未达到目标位姿的矢量。示例性的，手术机器人包括 一输入装置，输入装置经配置用于产生重新配置臂体机构远端的任务自由度的控制命令。处理系统经配置在获取到控制命令时，重新生成可供自由配置的臂体机构远端的任务自由度的信息。其中，所生成的可供自由配置的臂体机构远端的任务自由度的信息与前一时刻被配置的臂体机构的任务自由度的配置信息完全匹配。也即，假设本来可供臂体机构远端的任务自由度的信息为[x,y,z,α,β]，然而前一时刻被使用的臂体机构远端的任务自由度的配置信息只为[x,y,z,α]，则根据该控制命令生成的新的可供自由配置的臂体机构远端的任务自由度的信息只为[x,y,z,α]。
举例而言，目标位姿需要对[x,y,z,α,β,γ]进行调节，如果医生发现x,y这两个矢量已经达到期望，则可以触发上述的控制命令并根据生成的新的可供配置的臂体机构的任务自由度信息来重新配置臂体机构远端的任务自由度为[z,α,β,γ]，以利用前述对臂体机构的控制方法对z,α,β,γ继续进行调节，进一步地，如果一并对[z,α,β,γ]进行调节存在困难，可以再配置臂体机构远端的任务自由度进而利用前述对臂体机构的控制方法逐一地对[z,α,β,γ]进行调节，直至最终臂体机构远端完全运动至目标位姿。前文所提及的配置于主操作台(包括运动输入设备11)及/或从操作设备的各类用途的输入装置包括但不限于触摸屏、按键、旋钮、脚踏及语音识别模块。他们可以组合使用，也可以单独使用；他们可以采用同一个，也可以采用多个。举例而言，输入装置大多配置于主操作台处，方便医生无需离开当前位置来操作。举例而言，输入装置大多可以采用语音识别模块，根据识别医生的语音来产生并输出相应控制命令进而选择相应的模式，这样手术机器人的结构相对比较简单，而且解放了双手和双脚，能够实现更多连续性(即不中断当前操作)的操作。
上述实施例所描述的方法适用于对图像末端器械34A和操作末端器械34B进行控制，以使受控末端器械保持当前位置及/或姿态不变。
上述实施例适用于对如图1所示类型的手术机器人中的末端器械进行控制。该类型的手术机器人包括一个机械臂21及装设于该机械臂21远端的一 个以上的具有末端器械34的操作臂31，该机械臂21及操作臂31均具有若干自由度。
上述实施例同样适用于对如图20所示类型的手术机器人中的末端器械进行控制。该类型的手术机器人包括一个主臂32’、装设于主臂32’远端的一个以上的调整臂30’及装设于调整臂30’远端的一个以上的具有末端器械的操作臂31’，该主臂32’、调整臂30’及操作臂31’均具有若干自由度。如图20所示，该手术机器人中，调整臂30’可以设置为四个，每个调整臂30’可以仅设置一个操作臂31’。根据实际使用场景，可以将如图20所示类型的手术机器人的三段式臂体结构配置为如图1所示类型的手术机器人的两段式臂体结构从而实现控制。一实施例中，在该两种类型的手术机器人中的操作臂的概念为一致的情况下，例如，根据配置，可以将如图20所示类型的手术机器人中的各调整臂30’视为如图1所示类型的手术机器人中的机械臂21进行控制；又例如，根据配置，也可以将如图20所示类型的手术机器人中的任一调整臂30’及主臂32’的整体视为如图1所示类型的手术机器人中的机械臂21进行控制。一实施例中，可以将如图20所示类型的手术机器人中的主臂32’视为如图1所示类型的手术机器人中的机械臂21、并将如图20所示类型的手术机器人中的调整臂30’及其对应的操作臂31’的整体视为如图1所示类型的手术机器人中的操作臂31进行控制。
一实施例中，上述手术机器人的控制方法通常被配置为在手术机器人的控制装置中来实现，该控制装置包括存储器和一个以上的处理器，存储器用于存储计算机程序，处理器用于加载并执行计算机程序以实现如上述任一项实施例所述的控制方法。
一实施例中，提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，该计算机程序被配置为由一个以上的处理器执行实现上述任一项实施例所述的控制方法的步骤。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这 些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种手术机器人，其特征在于，包括：
    机械臂；
    装设于所述机械臂远端的一个以上的具有末端器械的操作臂，所述末端器械包括图像末端器械及/或操作末端器械；
    及控制装置，被配置成用于执行：
    获取所述机械臂远端在第一坐标系的第一目标位姿信息及各所述受控末端器械在第一坐标系的当前位姿信息，第一坐标系指所述机械臂的基坐标系；
    在所述机械臂远端到达所述第一目标位姿信息对应的目标位姿的条件下，分别换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息，第二坐标系指所述机械臂的工具坐标系；
    根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态。
  2. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在获取各受控末端器械在第一坐标系的当前位姿信息的步骤之前，执行：
    获取操作人员输入的选择指令，并根据所述选择指令从所述末端器械中选择一个以上作为所述受控末端器械。
  3. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息的步骤之后，执行：
    判断各所述第二目标位姿信息是否均为有效；
    如果判断均为有效，进入根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节 组件联动使相应所述受控末端器械保持当前位置及/或姿态的步骤。
  4. 根据权利要求3所述的手术机器人，其特征在于，所述控制装置被配置成在判断各所述第二目标位姿信息是否均为有效的步骤之中，执行：
    对各所述第二目标位姿信息是否有效进行判断，并分别获取相应的判断结果；
    根据获取的判断结果判断各所述第二目标位姿信息是否均为有效。
  5. 根据权利要求4所述的手术机器人，其特征在于，所述控制装置被配置成在对各所述第二目标位姿信息是否有效进行判断的步骤之中，执行：
    对各所述第二目标位姿信息进行解析，以分别获取对应的各所述操作臂中各关节组件的目标运动状态参数；
    将各所述操作臂中各关节组件的目标运动状态参数分别与所述操作臂中各关节组件的运动状态阈值进行比较；
    如果相应所述操作臂中各关节组件的目标运动状态参数均未超过所述操作臂中各关节组件的运动状态阈值，判断相应所述第二目标位姿信息为有效；否则，判断相应所述第二目标位姿信息为无效。
  6. 根据权利要求5所述的手术机器人，其特征在于，所述运动状态参数包括位置参数、速度参数及加速度参数，所述运动状态阈值包括位置参数阈值、速度参数阈值及加速度参数阈值。
  7. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，执行：
    获取所述机械臂远端的任务自由度的配置信息；
    根据所述机械臂远端的任务自由度的配置信息获取所述机械臂远端在第一坐标系的、且关联于相应任务自由度的第一目标位姿信息。
  8. 根据权利要求1所述的手术机器人，其特征在于，所述机械臂远端的任务自由度的配置信息关联于位置自由度及/或姿态自由度。
  9. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在获取各受控末端器械在第一坐标系的当前位姿信息的步骤之中，执行：
    获取各所述受控末端器械的任务自由度的配置信息；
    根据各所述受控末端器械的任务自由度的配置信息获取各受控末端器械在第一坐标系的、且关联于相应任务自由度的当前位姿信息。
  10. 根据权利要求9所述的手术机器人，其特征在于，所述受控末端器械的任务自由度的配置信息关联于位置信息及/或姿态信息。
  11. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，执行：
    获取施加于所述机械臂上用以拖动所述机械臂远端运动的外力的六维力/力矩矢量；
    将所述外力的六维力/力矩矢量解析为所述机械臂远端在第一坐标系的增量位姿信息；
    获取所述机械臂远端在第一坐标系的当前位姿信息；
    根据所述机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出所述第一目标位姿信息。
  12. 根据权利要求1所述的手术机器人，其特征在于，所述控制装置被配置成在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，执行：
    获取运动输入设备输入的运动信息；
    将所述运动信息解析为所述机械臂远端在第一坐标系的增量位姿信息；
    获取所述机械臂远端在第一坐标系的当前位姿信息；
    根据所述机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出所述第一目标位姿信息。
  13. 根据权利要求4所述的手术机器人，其特征在于，所述控制装置被配置成在获取机械臂远端在第一坐标系的第一目标位姿信息及各所述受控末端器械在第一坐标系的当前位姿信息的步骤之前，执行：
    获取描述所述机械臂及装设于所述机械臂远端且具有所述受控末端器械的所述操作臂的结构特征的描述信息，并根据所述描述信息生成模拟所述机械臂及相应所述操作臂的结构的模型图像。
  14. 根据权利要求13所述的手术机器人，其特征在于，所述控制装置被配置成在对各所述第二目标位姿信息是否有效进行判断，并分别获取相应的判断结果的步骤之后，执行：
    改变所述模型图像中第二目标位姿信息被判断为无效的相应所述受控末端器械对应的所述操作臂的色彩。
  15. 根据权利要求1所述的手术机器人，其特征在于，所述末端器械是图像末端器械或者操作末端器械。
  16. 一种手术机器人中末端器械的控制方法，所述手术机器人包括机械臂，所述机械臂远端装设有一个以上具有末端器械的操作臂，所述末端器械中有一个以上被配置为受控末端器械，其特征在于，所述控制方法包括如下步骤：
    获取所述机械臂远端在第一坐标系的第一目标位姿信息及各所述受控末端器械在第一坐标系的当前位姿信息，第一坐标系指所述机械臂的基坐标系；
    在所述机械臂远端到达所述第一目标位姿信息对应的目标位姿的条件下，分别换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息，第二坐标系指所述机械臂的工具坐标系；
    根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态。
  17. 根据权利要求16所述的控制方法，其特征在于，在换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息的步骤之后，包括：
    判断各所述第二目标位姿信息是否均为有效；
    如果判断均为有效，进入根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述机械臂远端到达与所述第一目标位姿信息对应的目 标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态的步骤。
  18. 根据权利要求16所述的控制方法，其特征在于，在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，包括：
    获取所述机械臂远端的任务自由度的配置信息；
    根据所述机械臂远端的任务自由度的配置信息获取所述机械臂远端在第一坐标系的、且关联于相应任务自由度的第一目标位姿信息。
  19. 根据权利要求16所述的控制方法，其特征在于，在获取机械臂远端在第一坐标系的第一目标位姿信息的步骤之中，包括：
    获取施加于所述机械臂上用以拖动所述机械臂远端运动的外力的六维力/力矩矢量；
    将所述外力的六维力/力矩矢量解析为所述机械臂远端在第一坐标系的增量位姿信息；
    获取所述机械臂远端在第一坐标系的当前位姿信息；
    根据所述机械臂远端在第一坐标系的增量位姿信息及当前位姿信息计算出所述第一目标位姿信息。
  20. 一种手术机器人中末端器械的控制装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于加载并执行所述计算机程序；
    其中，所述计算机程序由所述处理器加载并执行如下步骤：
    获取机械臂远端在第一坐标系的第一目标位姿信息及各受控末端器械在第一坐标系的当前位姿信息，第一坐标系指所述机械臂的基坐标系；
    在所述机械臂远端到达所述第一目标位姿信息对应的目标位姿的条件下，分别换算各所述受控末端器械在第一坐标系的当前位姿信息获得相应所述受控末端器械在第二坐标系的第二目标位姿信息，第二坐标系指所述机械臂的工具坐标系；
    根据所述第一目标位姿信息控制所述机械臂中各关节组件联动以使所述 机械臂远端到达与所述第一目标位姿信息对应的目标位姿，并分别根据各所述第二目标位姿信息控制相应所述操作臂中各关节组件联动使相应所述受控末端器械保持当前位置及/或姿态。
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