WO2022127650A1 - 手术机器人及其控制方法、控制装置 - Google Patents

手术机器人及其控制方法、控制装置 Download PDF

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Publication number
WO2022127650A1
WO2022127650A1 PCT/CN2021/136165 CN2021136165W WO2022127650A1 WO 2022127650 A1 WO2022127650 A1 WO 2022127650A1 CN 2021136165 W CN2021136165 W CN 2021136165W WO 2022127650 A1 WO2022127650 A1 WO 2022127650A1
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Prior art keywords
shape
virtual
image model
joint
motion
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PCT/CN2021/136165
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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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Publication of WO2022127650A1 publication Critical patent/WO2022127650A1/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/744—Mouse

Definitions

  • the present application relates to the field of medical devices, and in particular, to a surgical robot and its control device and control method.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • the surgical robot includes a master operation table and a slave operation device, and the slave operation device includes a plurality of operation arms, and the operation arms include a camera arm with an image end instrument and a surgical arm with an operation end instrument.
  • the main console includes a display and a handle. The doctor operates the handle to control the movement of the camera arm or the surgical arm under the field of view provided by the camera arm displayed on the monitor.
  • the present application provides a control method for a surgical robot, the surgical robot includes a drive arm, and the distal end of the drive arm is used for loading and unloading a terminal instrument, and the control method includes the steps of: acquiring structural features and shapes that are related to the control the movement of the corresponding real joint components in the first part so that the shape of the first part changes with the change of the shape of the image model.
  • the step of acquiring the change in the shape of the image model whose structural features and shape are consistent with the first part in the driving arm includes: acquiring and displaying the image model whose structural features and shape are consistent with the first part in the driving arm. at least a portion of the image model; acquiring changes in the shape of the image model.
  • the step of displaying at least part of the image model is specifically displaying the entire image model.
  • the driving arm has a plurality of real joint components
  • the image model at least has virtual joint components corresponding to the real joint components included in the first part
  • the virtual joint components have corresponding real joint components.
  • the change of the shape of the first part is completely replicated. Changes in the morphology of the image model.
  • the change of the shape of the first part completely replicates the change of the shape of the image model specifically means: the change of the shape of the first part and the change of the shape of the image model have exactly the same motion state,
  • the identical motion state includes the same motion trajectory and the same motion speed.
  • the changed part of the shape of the first part is reproduced. Changes in the morphology of the image model.
  • the morphological change of the first part replicating the morphological change of the image model specifically refers to: the morphological change of the first part and the morphological change of the image model have different motion states. , but at least the final form is the same, and the different motion states include different motion trajectories or different motion speeds.
  • the step of controlling the movement of the corresponding real joint components in the first part so that the shape of the first part changes with the change of the shape of the image model includes: when it is detected that the set adjustment mode is intermittent adjustment. In the mode, it is detected whether the confirmation instruction is acquired; when the confirmation instruction is acquired, the motion of the corresponding real joint component in the first part is controlled so that the shape of the first part changes with the change of the shape of the image model.
  • the step of controlling the movement of the corresponding real joint components in the first part so that the shape of the first part changes with the change of the shape of the image model includes: after detecting that the set adjustment mode is continuous adjustment; In the mode, the corresponding real joint components in the first part are controlled to move so that the shape of the first part changes with the change of the shape of the image model.
  • the shape of the first part changes substantially synchronously with the change of the shape of the image model, or the shape of the first part changes with the change of the shape of the image model.
  • the change speed of the shape of the first part is lower than the change speed of the shape of the image model.
  • step of acquiring the change of the shape of the image model comprising: receiving an input operation instruction set for changing the shape of the image model; changing the shape of the image model according to the operation instruction set, And at least the final form of the image model is displayed.
  • the operation instruction set is associated with the task of the image model in the joint space
  • the step of changing the shape of the image model according to the operation instruction set includes: parsing the operation instruction set to obtain the The control nodes in the image model and their corresponding directional joint motions; according to the control nodes and their corresponding joint motions, the joint motions corresponding to the corresponding control nodes are moved to change the image model. form.
  • the amount of joint motion is an incremental amount of joint motion.
  • the operation instruction set includes a click operation instruction
  • the step of parsing the operation instruction set to obtain the corresponding directional joint motion amount of the control node includes: parsing the click operation instruction to obtain the click position, and click The number of times and/or the click duration; the movement direction of the control node is determined according to the click position, and the incremental joint movement amount of the control node in the corresponding direction is determined according to the click number and/or the click duration .
  • control method further includes: generating an icon with an adjustable direction of the motion pair of the control node for being clicked, wherein the click position falls on the icon to indicate that the control node is selected
  • the number of clicks and/or the duration of the click represent the incremental joint movement amount for setting the control node in the corresponding movement direction.
  • the joint motion amount is a target joint motion amount.
  • the operation instruction set is associated with the task of the image model in the task space
  • the step of changing the shape of the image model according to the operation instruction set includes: parsing the operation instruction set to obtain the The control node in the image model, the task movement amount of the control node, the task degree of freedom of the virtual joint component at the farthest end, and the virtual joint component in the enabled state;
  • the degree of freedom of the task and the task movement amount of the control node control the virtual joint components in the enabled state to link together so that the control node moves the corresponding task movement amount to change the shape of the image model.
  • the task movement amount is an incremental task movement amount
  • the incremental task amount includes an incremental position and an incremental attitude.
  • the operation instruction set includes a click operation instruction
  • the step of parsing the operation instruction set to obtain the task movement amount corresponding to the control node includes: parsing the click operation instruction to obtain the click position, and the number of clicks and/or clicks. duration; the movement direction of the control node is determined according to the click position, and the incremental task movement amount of the control node in the corresponding direction is determined according to the number of clicks and/or the click duration.
  • control method includes: generating at least a coordinate image associated with the control node and including an X coordinate axis, a Y coordinate axis and a Z coordinate axis, wherein the click position falls into the corresponding coordinate axis representation
  • the movement direction of the control node is selected, and the number of clicks and/or the click duration represents setting the incremental position of the control node in the corresponding movement direction.
  • the step further includes: generating in the coordinate image associated with each of the coordinate axes. where the click position falls into the corresponding coordinate axis to select the rotation direction of the control node, and the number of clicks and/or the click duration means to set the control node to move in the corresponding direction The incremental pose of the orientation.
  • the task movement amount is a target task movement amount.
  • the operation instruction set includes a mode configuration instruction
  • the mode configuration instruction includes one or more of a first mode instruction, a second mode instruction, a third mode instruction, and a fourth mode instruction, and the first mode instruction
  • the instruction is used to configure the task degree of freedom as zero task degree of freedom
  • the second mode instruction is used to configure the task degree of freedom as a pose degree of freedom
  • the third mode instruction is used to configure the task degree of freedom as a positional degree of freedom
  • the fourth mode command is used to configure the task degrees of freedom as attitude degrees of freedom.
  • control node when the control node is one and the control node is the virtual joint component at the far end, all the virtual joint components in the image model are used as the first segment of the virtual arm body, and then according to the The degree of freedom of the task, the control node and its task motion amount control the linkage of the virtual joint components in the enabled state in the first segment of the virtual arm body, so that the control node moves the corresponding task motion amount to change all the motions. Describe the shape of the image model.
  • control node when the control node is one and the control node is the most distal virtual joint component, all the virtual joint components in the image model are used as the first virtual arm body, and then according to the The task degree of freedom and the task motion amount of the control node control the linkage of the virtual joint components in the enabled state in the first segment of the virtual arm, so that the task motion amount corresponding to the motion of the control node changes all Describe the shape of the image model.
  • control node when the control node is one and the control node is not the most distal virtual joint component, all the virtual joint components at the proximal end of the control node are used as the first virtual arm body, and All the virtual joint components at the far end of the control node are used as a second virtual arm body, and the control node belongs to a virtual arm body at the near end, and then according to the task degree of freedom, the task of the control node
  • the motion amount controls the virtual joint components in the enabled state in the first segment of the virtual arm body to link the control node to move the task motion amount, while controlling all the enabled state in the second segment of the virtual arm body.
  • the virtual joint assembly is independent of the virtual joint assembly in the enabled state in the first segment of the virtual arm body to achieve the task degree of freedom in linkage.
  • all the virtual joint assemblies are divided into multi-segment virtual arm bodies with the same number as the control nodes, each of which is a virtual arm.
  • the control node only belongs to a segment of the virtual arm body on the proximal side of the corresponding control node, and then controls the virtual joint assembly in the enabled state in the farthest segment of the virtual arm body to link and realize the task freedom.
  • the task motion amount of the farthest control node under the degree constraint, while controlling the virtual joint components in the enabled state in other segments of the virtual arm body are respectively linked to make the corresponding control node motion corresponding to the task motion amount , wherein the movements of the different virtual arm bodies are relatively independent.
  • control nodes are two or more virtual joint assemblies that are not the farthest ends
  • all the virtual joint assemblies are divided into multi-segment virtual arm bodies with one more than the number of control nodes, each of which is The control node only belongs to a segment of the virtual arm body on the proximal side of the corresponding control node, and then controls the virtual joint assembly in the enabled state in the farthest segment of the virtual arm body to be linked to realize the farthest end.
  • the degree of freedom of the task of the control node while controlling the virtual joint components in the enabled state in other segments of the virtual arm to move the corresponding task motions of the corresponding control nodes, wherein different The motion of the virtual arm is relatively independent.
  • the virtual joint assembly configurable into an enabled state and the virtual joint assembly configurable as the control node correspond to an active joint assembly in the first portion of the drive arm.
  • the method before the step of acquiring the morphological change of the image model, includes: magnifying and displaying at least part of the image model.
  • control method further includes: generating a user interface having an angle switching control for switching the display angle of the image model, and then switching the image model according to an angle switching instruction generated by triggering the angle switching control. Display angle.
  • the portion of the image model that can be transformed corresponds to a portion of the drive arm where the first portion exists within the field of view of the image end instrument in the surgical robot.
  • the image model is a computer image model or a projected image model.
  • the step before the step of controlling the movement of the corresponding real joint components in the first part so that the shape of the first part changes with the change of the shape of the image model, the step includes: acquiring a shape that causes the image model to change. joint variables corresponding to the virtual joint components; perform motion smoothing processing on the joint variables corresponding to the virtual joint components respectively to obtain joint variables after motion smoothing; control the movement of the corresponding real joint components in the first part to make all the joint variables
  • the step of changing the shape of the first part following the change of the shape of the image model is specifically as follows: according to the motion-smoothed joint variable corresponding to the virtual joint component, control the corresponding virtual joint component in the first part.
  • the real joint component of the joint component moves so that the shape of the first part changes following the change of the shape of the image model, while making the movement of the first part continuous.
  • the step of performing motion smoothing processing on the joint variables corresponding to the virtual joint components to obtain the joint variables after the motion smoothing processing is performed before changing the shape of the image model according to the operation instruction set, so as to The movement of the image model is made continuous, and the movement of the first part is made continuous.
  • the step of performing motion smoothing processing on the joint variables corresponding to the virtual joint components to obtain the joint variables after the motion smoothing processing is performed after changing the shape of the image model according to the operation instruction set, so as to Only the movement of the first part is made continuous.
  • the motion smoothing processing includes filtering processing and/or trajectory interpolation processing; and the continuous motion includes one or more of continuous motion position, continuous motion speed, and continuous motion acceleration.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to achieve the implementation as described in any of the foregoing embodiments steps of the control method.
  • the present application provides a control device for a surgical robot, comprising: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be The processor loads and executes the steps of implementing the control method described in any of the above embodiments.
  • the present application provides a surgical robot, comprising: a driving arm; a display for displaying an image model; an input device for manipulating the morphological change of the image model; and a controller, the controller and The driving arm, the display and the motion input device are coupled and configured to perform the steps of the control method according to any one of the above embodiments.
  • the driving arm includes a robotic arm and an operating arm
  • the proximal end of the operating arm is mounted on the distal end of the robotic arm
  • the end device is mounted on the distal end of the operating arm
  • the first part is The manipulator arm, or the first part, is the manipulator arm and the manipulator arm.
  • the drive arm includes a robotic arm, an adjustment arm, a manipulator and an operation arm
  • the proximal end of the adjustment arm is mounted on the distal end of the robotic arm
  • the proximal end of the manipulator is mounted on the adjustment arm the distal end
  • the proximal end of the operating arm is mounted on the distal end of the manipulator
  • the end instrument is mounted on the distal end of the operating arm
  • the first part is the operating arm
  • the first part is The manipulator and the manipulation arm, or the first part is the robotic arm, the adjustment arm, the manipulator and the manipulation arm.
  • the input device is one or more of a motion input device, a touch screen, and a mouse.
  • the operation is convenient, safe and applicable. wide.
  • FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot of the present application
  • FIG. 2 is a partial schematic diagram of an embodiment of the surgical robot shown in FIG. 1;
  • Fig. 3 is the structural schematic diagram of the operating arm and the power part in the surgical robot
  • FIG. 4 is a schematic structural diagram of another embodiment of the surgical robot of the present application.
  • FIG. 5 is a configuration interface of an embodiment of the first part of the configuration of the surgical robot shown in FIG. 1;
  • FIG. 6 is a configuration interface of another embodiment of the first part of the configuration of the surgical robot shown in FIG. 1;
  • 7 to 11 are respectively a flowchart of a control method of a surgical robot according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of the shape of the first part of the driving arm of an embodiment of the surgical robot of the present application.
  • FIG. 13 is a schematic diagram of the shape of the image model of an embodiment of the surgical robot of the present application.
  • FIG. 14 is a schematic diagram of another form of the image model of the surgical robot according to an embodiment of the present application.
  • 15 is a schematic diagram of another form of the first part of the driving arm of an embodiment of the surgical robot of the present application.
  • 16 is a flowchart of a control method of a surgical robot according to an embodiment of the application.
  • 17 to 18 are respectively schematic diagrams of the shape of the image model of an embodiment of the surgical robot of the present application.
  • 19 to 22 are respectively a flowchart of a control method of a surgical robot according to an embodiment of the present application.
  • FIG. 23 is a schematic diagram of a display interface of an embodiment of the control method of the surgical robot shown in FIG. 22;
  • FIG. 24 is a schematic structural diagram of a control device of a surgical robot according to an embodiment of the application.
  • FIG. 25 is a schematic structural diagram of a control device of a surgical robot according to an embodiment of the application.
  • distal end and proximal end are used in this application as orientation words, which are common terms in the field of interventional medical devices, wherein “distal end” means the end away from the operator during the operation, and “proximal end” means The end closest to the operator during surgery.
  • first/second etc. refer to a component as well as a class of two or more components having common characteristics.
  • FIG. 1 to FIG. 2 are respectively a schematic structural diagram and a partial schematic diagram of an embodiment of the surgical robot of the present application.
  • the surgical robot includes a master console 2 and a slave operation device 3 controlled by the master console 2 .
  • the master console 2 has a motion input device 21 and a display 22, and the doctor sends a control command to the slave operation device 3 by operating the motion input device 21, so that the slave operation device 3 performs the corresponding operation according to the control command of the doctor operating the motion input device 21, and
  • the surgical field is viewed through the display 22 .
  • the slave operating device 3 has a driving arm, and the driving arm has a mechanical arm 30 and one or more operating arms 31 detachably installed at the distal end of the mechanical arm 30 .
  • the robotic arm 30 includes a base and a connecting assembly that are connected in sequence, and the connecting assembly has a plurality of joint assemblies.
  • the operating arm 31 includes a connecting rod 32, a connecting component 33 and an end device 34 connected in sequence, wherein the connecting component 33 has a plurality of joint components, and the posture of the end device 34 is adjusted by adjusting the joint components of the operating arm 31; the end device 34 has an image
  • the end device 34A and the operation end device 34B are used to capture an image within the field of view, and display 22 is used to display the image.
  • the manipulation end instrument 34B is used to perform surgical operations such as cutting, suturing.
  • the manipulation arm with the image end instrument 34A be the camera arm 31A
  • the manipulation arm with the manipulation end instrument 34B be the surgical arm 31B.
  • the surgical robot shown in FIG. 1 is a single-hole surgical robot, and each operating arm 31 is inserted into the patient's body through the same trocar 4 installed at the distal end of the robotic arm 30 .
  • the doctor In a single-hole surgical robot, the doctor generally only controls the operating arm 31 to complete basic surgical operations.
  • the manipulating arm 31 of the single-hole surgical robot should have both a positional degree of freedom (that is, a positioning degree of freedom) and a posture degree of freedom (that is, the orientational degree of freedom), so as to realize the change of the posture and attitude within a certain range, for example, the manipulating arm 31 has The degree of freedom of horizontal movement x, the degree of freedom of vertical movement y, the rotation degree of freedom ⁇ , the pitch degree of freedom ⁇ and the yaw degree of freedom ⁇ , the operating arm 31 can also be realized by the driving of the distal joint component of the mechanical arm 30, that is, the power mechanism 301.
  • the degree of freedom z of forward and backward movement ie, the degree of freedom of feeding
  • redundant degrees of freedom can also be set for the operating arm 31 to realize the possibility of more functions.
  • the power mechanism 301 has a guide rail and a power part slidably arranged on the guide rail, and the operating arm 31 is detachably installed on the power part.
  • the power part provides power for the joint assembly of the operating arm 31 to realize the remaining 5 degrees of freedom (ie [x, y, ⁇ , ⁇ , ⁇ ]).
  • the surgical robot also includes a controller.
  • the controller can be integrated into the master console 2 or into the slave operation device 3 .
  • the controller can also be independent of the master operating console 2 and the slave operating device 3, which can be deployed locally, for example, or the controller can be deployed in the cloud.
  • the controller may be constituted by more than one processor.
  • the surgical robot further includes an input unit.
  • the input unit may be integrated into the main console 2 .
  • the input unit can also be integrated into the slave operating device 3 .
  • the input part can also be independent of the master console 2 and the slave operation device 3 .
  • the input unit may be, for example, a mouse, a keyboard, a voice input device, or a touch screen.
  • a touch screen is used as the input unit, and the touch screen may be disposed on the armrest of the main console 2 , for example.
  • the operating arm 31 also includes sensors that sense joint variables of the joint assembly. These sensors include an angle sensor that senses the rotational motion of the joint assembly and a displacement sensor that senses the linear motion of the joint assembly. Specifically, an appropriate sensor can be configured according to the type of the joint assembly.
  • the controller is coupled to these sensors, and to the input and display 22 .
  • a storage unit 311 is installed on the abutment surface of the drive box 310 of the operating arm 31 abutting against the power part 302 of the power mechanism 301 .
  • the abutting surface is provided with a reading unit 303 matched with the storage unit 311.
  • the reading unit 303 is coupled to the controller.
  • the reading unit 303 communicates with the storage unit 311, and reads
  • the retrieval unit 303 reads the relevant information from the storage unit 311 .
  • the storage unit 311 is, for example, a memory or an electronic tag.
  • the storage unit stores, for example, the type of the manipulator arm, the part where the manipulator arm can be configured as the target part, the kinematic model of the manipulator arm, and the like.
  • the storage unit 311 of the camera arm 31A additionally stores camera parameters.
  • FIG. 4 it is a schematic structural diagram of an embodiment of a surgical robot of the present application. More specifically, FIG. 4 shows a structural schematic diagram of an embodiment of a porous surgical robot.
  • the difference between the multi-hole surgical robot shown in FIG. 4 and the single-hole surgical robot shown in FIG. 1 mainly lies in the difference between the slave operating devices of the two.
  • the driving arm of the slave operating device has a robotic arm 110 , an adjustment arm 120 , a manipulator 130 and an operating arm 150 connected in sequence.
  • the number of the adjustment arm 120 , the manipulator 130 and the operation arm 150 are the same and more than two, for example, four.
  • the distal end of the robotic arm 110 has an orientation platform, the proximal end of the adjustment arm 120 is connected to the orientation platform, and the proximal end of the manipulator 130 is connected to the orientation platform. at the distal end of the adjustment arm 120 .
  • the manipulator 130 is used for detachably connecting the operating arm 150, and the manipulator 130 has a plurality of joint components.
  • different operating arms 150 are inserted into the patient through different trocars. Compared with the operating arm 31 of the single-hole surgical robot, the operating arm 150 of the multi-hole surgical robot generally has less degrees of freedom.
  • the manipulating arm 150 only has a posture degree of freedom (ie, an orientation degree of freedom), of course, the change of its posture generally also affects the position, but it can be ignored in some scenarios because the influence is small.
  • the change of the position of the manipulator 150 can usually be assisted by the manipulator 130. Since the manipulator 130 and the manipulator 150 are linked to realize the pose change, the two can be regarded as manipulator components, which are similar to the manipulator 31 in the single-hole surgical robot. quite.
  • the motion input device 21 may input pose commands including position commands and pose commands to control changes in the pose of the first portion of the distal end of the drive arm.
  • the distal end of the first part usually refers to the end device.
  • the distal end of the first part may also refer to a joint assembly connected with the end device.
  • the change of the posture of the end device is generally consistent with the change of the posture of the joint assembly.
  • the driving arm includes a manipulator arm and an operation arm, the proximal end of the manipulator arm is installed at the distal end of the manipulator arm, and the terminal instrument is installed at the distal end of the manipulator arm.
  • the first part may be configured as a manipulator arm; alternatively, the first part may be configured as an integral part of the robotic arm and manipulator arm.
  • the driving arm includes a mechanical arm, an adjusting arm, a manipulator and an operating arm.
  • the proximal end of the adjusting arm is installed at the distal end of the mechanical arm, and the proximal end of the manipulator is installed at the distal end of the adjusting arm.
  • the proximal end of the operating arm is installed at the distal end of the manipulator, and the end device is installed at the distal end of the operating arm.
  • the first part can be configured as a manipulator arm; alternatively, the first part can be configured as an integral part of the manipulator and manipulator arm; alternatively, the first part can be configured as a robotic arm, adjustment arm, manipulator and manipulator arm Overall.
  • the robotic arm is usually used to adjust the posture of the end instrument in a large range, and the manipulator arm is used to finely adjust the posture of the end instrument.
  • the robot arm is used to set the position, and the operation is mainly carried out by controlling the operation arm during the operation.
  • the corresponding arm structures such as the robotic arm and the operating arm can also be combined to move together to achieve specific functions.
  • the structure expected to be associated with the first part in the driving arm can be defined in the system file of the surgical robot, and the structure associated with the first part is read from the system file and applied when the system of the surgical robot is initialized It can be used in the following embodiments.
  • a configuration interface for configuring the first part may also be generated in real time according to the description information of the configuration of the driving arm.
  • the description information includes the link parameters of all joint components in each part of the drive arm, etc.
  • the configuration interface contains selectable controls associated with various parts of the drive arm for configuration by the physician.
  • the control can be, for example, a text control, an option control such as a drop-down list control, a button control, and other forms.
  • an associated image model containing optional controls may be generated according to the description information of the configuration of the drive arm.
  • the image model may be a computer image model of a complex structure.
  • the image model can follow the change of the state of the drive arm.
  • the image model may not follow the change of the state of the drive arm, but only reflects the configuration of the drive arm at a certain moment such as the initial state (eg, when the joint variable is zero).
  • the controls on the image model are, for example, icon controls, more specifically, light spots, apertures, and the like.
  • the adjusting arm, the manipulator, and the manipulating arm may each correspond to a control for selecting their entirety as the first part.
  • the above-mentioned first part can also be performed by a plurality of independently set surgical robots that are arranged to cooperate to complete the operation, and such a plurality of surgical robots do not have the same mechanical arm.
  • each of the joint components in the drive arm may correspond to a control for selecting their part or the whole as the first part, wherein the unselected whole or part is selected as the first part. It suffices to treat the system as a non-articulated structure so that their movement is prohibited.
  • a closed graph drawn by the doctor through the input part covering at least part of the controls in the image model can be obtained, and all parts contained (ie enclosed) in the graph are taken as the first part. Such a design can improve the configuration efficiency of the first part.
  • FIG. 5 and FIG. 6 respectively illustrate the configuration interface of an embodiment of the first part of the configuration of the surgical robot shown in FIG. 1 .
  • a part that can be configured as at least part of the first part can be represented by an icon control “ ⁇ ”
  • a part configured as at least part of the first part can be represented by an icon control “•”.
  • the image model basically illustrates the basic structure of the single-hole surgical robot shown in Figure 1, wherein the robotic arm and the manipulator arms Arm1 to Arm3 respectively contain an optional control, and whether to select the control corresponds to a determination
  • FIG. 5 basically illustrates the basic structure of the single-hole surgical robot shown in Figure 1, wherein the robotic arm and the manipulator arms Arm1 to Arm3 respectively contain an optional control, and whether to select the control corresponds to a determination
  • the manipulator and the manipulators Arm1-Arm3 in the image model respectively contain multiple optional controls, and the number of controls in the manipulator and manipulators Arm1-Arm3 is basically the same as that of the joint components they have. The number is the same, and each control can, for example, represent one of the corresponding joints.
  • the operating arm Arm3 since all controls of the operating arm Arm3 are selected, it is equivalent to configuring the operating arm Arm3 as a whole as the first part.
  • the first part configured by the doctor according to the configuration interface can be obtained in advance, and then the purpose of the present application can be achieved by using the first part.
  • Such a design can make it easier for doctors to flexibly configure the desired first part for different application scenarios.
  • one or more of the end instruments may be configured as a controlled end instrument to accept control by the motion input device.
  • a control method of a surgical robot is provided, and the control method can be executed by a controller. As shown in Figure 7, the control method includes the following steps:
  • Step S11 acquiring the change in the shape of the image model whose structural features and shape are consistent with the first part of the driving arm.
  • the image model is mainly used to assist in displaying the motion state of the first part of the drive arm.
  • the motion state includes position, attitude, speed, acceleration, etc.
  • shape refers to the shape and attitude, and is caused by position and attitude.
  • the change of the motion state of the first part of the drive arm is the independent variable
  • the change of the motion state of the image model is the dependent variable
  • the motion state of the image model follows the motion of the first part of the drive arm. changes with the status.
  • the application configures the image model with the same structural features as the first part in the driving arm, and these structural features include but are not limited to the configuration , connecting rod parameters.
  • the driving arm has a plurality of real joint components
  • the image model has virtual joint components corresponding to the real joint components of the first part
  • the virtual joint components have joint motion parameters consistent with the corresponding real joint components, so that the shape of the image model can be
  • the tuning performance is consistent with the tuning performance of the morphology of the first part.
  • the joint motion parameters include a joint motion range, a joint motion speed threshold, and a joint motion acceleration threshold.
  • the present application can actively adjust the shape of the image model, so that the change of the shape of the image model can be acquired independently.
  • the active adjustment of the shape of the image model may utilize the aforementioned motion input device, mouse, touch screen, voice recognition device, and/or gesture recognition device and other types of input devices coupled to the controller.
  • two switching commands can be configured to switch the adjustable objects, the two switching commands include a first switching command and a second switching command, wherein the first switching command is used to disable the adjustment of the first part of the driving arm.
  • the active control function of the shape of the image model is used to enable the active control of the shape of the image model
  • the second switching instruction is used to disable the active control of the shape of the image model and enable the active control function of the shape of the first part of the drive arm.
  • control method may include: detecting whether the first switching instruction is acquired. Further, when the first switching instruction is acquired, step S11 is executed.
  • Step S12 controlling the movement of the corresponding real joint components in the first part so that the shape of the first part changes with the change of the shape of the image model.
  • the change of the shape of the first part is consistent with the change of the shape of the image model
  • the "consistency" here can allow a slight difference
  • its influencing factors are objective factors, such as the difference caused by the inaccurate transmission of the first part of the driving arm and other reasons.
  • whether the shape of the first part changes with the shape of the image model needs to be manually confirmed by the operator.
  • it may include: detecting whether a confirmation instruction is obtained, and after obtaining the confirmation Step S12 is executed after the instruction, otherwise, continue to detect whether the confirmation instruction is acquired.
  • Such an intervening adjustment mode can be understood as an intermittent adjustment mode, which is beneficial to first place the image model in a reasonable shape, and then control the first part of the driving arm to follow the shape of the image model to change.
  • Such an adjustment mode without intervention can be understood as a continuous adjustment mode.
  • the shape of the first portion in the continuous adjustment mode, can be configured to change substantially synchronously with the change of the shape of the image model; the shape of the first portion can be configured to change with a lag to the change of the shape of the image model, such as The interval is changed from 1s to 10s, and this setting helps to provide the possibility to readjust the shape of the image model in time, that is, it helps to interrupt the first part in time when the shape of the adjusted image model is found to be not expected.
  • the adjustment of the form has basically the same function as the intermittent adjustment mode.
  • the above-mentioned specific use of the intermittent adjustment mode or the continuous adjustment mode to adjust the shape of the first part can be pre-configured by the operator, for example.
  • the change of the shape of the first part can completely replicate the change of the shape of the image model , in which the definition of "complete reproduction” or “complete reproduction” can be: both have exactly the same motion state, including the same motion trajectory, the same motion speed, etc., and the method to achieve "complete reproduction” is:
  • the parameters for adjusting the shape change of the image model are directly sent to the controller without processing, and then control the movement of the first part in the driving arm to realize the shape change based on these parameters; and in other embodiments, the shape change of the first part can also be partially
  • the definition of "partial replication” or “partial replication” can be: the two have not exactly the same motion state, but at least the final shape is the same, for example, the two have different motion trajectories or both The movement speed is different, and the method to achieve "partial engraving
  • the moving speed of the first part in the driving arm can also be adjusted by setting the moving speed coefficient so that the two moving speeds are different.
  • a movement speed coefficient less than 1 can be set to control the movement of the first part of the drive arm so that it has a lower change speed than the change speed of the shape of the image model, which has the effect of, for example, reducing the actual The benefit of the collision risk, because even a collision has a relatively small inertia due to the low speed.
  • a movement speed coefficient greater than 1 can also be set to control the movement of the first part of the drive arm so that it has a higher change speed than the change speed of the shape of the image model.
  • Such a usage scenario For example, it can be used on the premise of ensuring that there will be no collision.
  • the change of the shape of the image model is used as an independent variable and the change of the shape of the first part of the driving arm is used as a dependent variable to control, so that the shape of the first part of the driving arm follows the shape of the image model. It can provide a new control method, especially suitable for some scenes that are not suitable for directly controlling the shape of the first part of the driving arm, such as the scene used to cancel the collision, and for example, it is used to control the first part of the driving arm. A scene in the desired shape.
  • the above-mentioned step S11 that is, the step of acquiring the change in the shape of the image model whose structural features and shape are consistent with the first part of the driving arm includes:
  • Step S111 acquiring an image model whose structural features and shape are consistent with the first part in the driving arm, and displaying at least part of the image model.
  • the entirety of the image model corresponding to the first part is usually displayed.
  • the part of the image model corresponding to the first part may be displayed, for example, only the far end of the complete image model or a part including the far end is displayed.
  • the form of the first part can be changed by changing the form of the image model by using the method described below for the displayed part.
  • the joint space configuration of the image model can be used. The task and/or the task of configuring the task space of the image model to change the shape of the image model and the first part.
  • step S112 the change of the shape of the image model is acquired.
  • step S112 before step S112 , that is, before the step of acquiring the change of the shape of the image model, it may further include:
  • Step S1121 receiving an input operation instruction set for changing the shape of the image model.
  • the operation instruction set includes more than one instruction.
  • Step S1122 changing the shape of the image model according to the operation instruction set.
  • the final form of the image model or the final form including the intermediate form can be displayed.
  • the intermediate form refers to all transitional forms before the final form. That is, the change of the shape of the image model can directly present the final shape, of course, the intermediate shape corresponding to the entire change process and the final shape at the end of the change can also be presented.
  • the shape of the image model can be changed in two ways.
  • the shape of the image model can be changed from the perspective of joint space; in the second aspect, the shape of the image model can be changed from the perspective of task space.
  • the operation instruction set in step S1121 is an operation instruction set for configuring the task of the image model in the joint space.
  • each virtual joint component in the default image model of the system is in a disabled state
  • the operation instruction set may include an enabling instruction and a moving instruction
  • the enabling instruction is used to configure one or more virtual joint components in a disabled state to be enabled state
  • the movement instruction is used to select a virtual joint component of an enabled state as a control node and configure the joint motion amount in the joint space for the control node.
  • the motion range of the virtual joint assembly in the disabled state is limited as a rigid body structure, and the motion range of the virtual joint assembly in the enabled state is not limited to a free state.
  • step of changing the shape of the image model according to the operation instruction set in the above step S1122 can be performed as follows:
  • Step S11221 parse the operation instruction set to obtain the control node and its corresponding joint motion.
  • the amount of joint motion obtained is usually directional.
  • the joint motion of the corresponding control node only changes the motion state of the control node itself without affecting other control nodes.
  • Step S11222 according to the control nodes and their corresponding joint motions, the corresponding control nodes independently move the corresponding joint motions to change the shape of the image model.
  • step S11222 it can be judged whether the joint motion amount of each control node is valid.
  • each control node it is necessary to control each control node to move according to the joint motion amount in the above step S11222 when the joint motion amount of each control node is valid.
  • the joint motions of some of the control nodes are valid, the part of the control nodes may be controlled to move according to the joint motions in the above step S11222.
  • the joint movement amount of each control node is invalid, the above step S11222 is not executed, and the operator can be prompted to reconfigure a reasonable joint movement amount.
  • An example of the validity criterion may be joint motion state parameters of the control node, such as motion range, joint motion speed and/or joint motion acceleration.
  • only one of the plurality of virtual joint components may be configured as a control node, so as to simplify the operation of changing the shape of the image model, and the change of the shape of the image model under such operation. The effect will be easier to observe and understand.
  • multiple virtual joint components need to be adjusted, it is sufficient to configure different control nodes and their joint motions at different times.
  • the above-mentioned joint motion amount may be an incremental joint motion amount, or may be a target joint motion amount.
  • the joint motion can be the incremental joint angle or target joint angle; for sliding joints, the joint motion can be incremental joint offset or target joint offset.
  • the incremental joint motion can be configured as follows:
  • At least a first icon showing a kinematic pair can be generated and displayed for the control node, the kinematic pair corresponding to the rotating joint is the rotation axis, and the kinematic pair corresponding to the moving joint is the moving axis.
  • a second icon associated with the adjustable direction of the motion pair may be generated and displayed in the motion pair.
  • the movement instruction in the operation instruction set may be derived from a click operation instruction input by the operator by means of an input device such as a motion input device, a mouse, and a touch screen, and the click operation instruction includes the click position and the number of clicks.
  • the movement direction of the control node can be determined according to the click position in the triggered click operation instruction, and the movement direction of the control node in the corresponding movement direction can be determined according to the number of clicks.
  • Incremental joint motion Each click corresponds to a fixed incremental joint motion.
  • the incremental joint motion is a fixed step rotation, such as any value between 0.1° and 1°, such as 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9° or 1°; value; for moving joints, this incremental joint motion is an offset with a fixed step length, such as any value between 1mm and 10mm, such as 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm or 10mm, of course, the offset of the fixed step length can also be defined by the operator as a value other than 1mm to 10mm.
  • the click operation instruction can also be compatible with the click duration, and the sum of the incremental joint movement amount corresponding to the number of clicks and the incremental joint movement amount corresponding to the click duration can be used as the final incremental joint movement amount.
  • step S11221 that is, the step of analyzing the operation instruction set to obtain the corresponding joint motion amount of the control node may include:
  • Step S112211 parse the click operation instruction to obtain the click position, the number of clicks and/or the click duration.
  • the valid click position is, for example, a click on the second icon.
  • Step S112212 Determine the movement direction of the control node according to the click position, and determine the incremental joint movement amount of the control node in the corresponding direction according to the number of clicks and/or the click duration.
  • the robotic arm of the slave operating device is used as the first part of the driving arm as an example for description.
  • the first part 3 includes real joint components 3001 to 3005
  • the image model 3 ′ includes virtual joint components 3001 ′ to 3005 ′ corresponding to the real joint components 3001 to 3005 respectively.
  • . 12 and 13 respectively show schematic diagrams of the shape of the first part 3 and the image model 3' before the control method described in this application is performed, and the shapes of the two are the same in the initial state.
  • the virtual joint component 3003' in the image model 3' is configured as a control node, in order to perform the configuration of incremental joint motion, a first image representing its kinematic pair can be generated at a position associated with the control node 3003'.
  • icon 61, and a second icon 62 representing the adjustable direction of the motion pair, the second icon 62 may include a sub-icon 621 representing the first adjustable direction and a sub-icon 622 representing the second adjustable direction.
  • the operator controls the image model 3' to adjust from the form shown in Fig. 13 to the form shown in Fig. 14 by clicking the operation instruction.
  • the first part 3 can be adjusted from the shape shown in FIG. 12 to the shape shown in FIG. 15 , so that the shape of the first part 3 is basically consistent with the shape of the image model 3'.
  • first icon and second icon may be generated and displayed for all virtual joint components in the enabled state.
  • the selected control node and its corresponding movement direction can be determined together with the click position obtained by analyzing the click operation instruction.
  • the target joint motion can be configured as follows:
  • the motion range of the virtual joint component configured as the control node among the virtual joint components in each enabled state is obtained, and the operator can configure the target joint motion amount based on the motion range by means of the motion input device, so that the control node can directly move Configured target joint motion amount.
  • the movement range of the control node is -270° to 270°, and the desired angle of rotation of the control node, such as 200°, may be directly input, which will not be described in detail here.
  • the operation instruction set in step S1121 is an operation instruction set for configuring the task of the image model in the task space.
  • each virtual joint component in the default image model of the system is in an enabled state
  • the operation instruction set may include a mode configuration instruction and a movement instruction.
  • the mode configuration instruction is used to configure the task freedom at the far end of the image model. More specifically That is, it is used to configure the task degree of freedom of the farthest virtual joint component in the image model.
  • the movement instruction is used to select a virtual joint component in an enabled state as a control node and configure tasks in the task space for the control node. amount of exercise.
  • the operation instruction set may further include a disable instruction for configuring one or more enabled virtual joint components to a disabled state, which is equivalent to changing the configuration of the image model to suit more usage scenarios.
  • step of changing the shape of the image model according to the operation instruction set in the above step S1122 can be performed as follows:
  • Step S11221' parse the operation instruction set to obtain the virtual joint component in the enabled state, the task degree of freedom of the most remote virtual joint component, the control node and its task motion amount.
  • Step S11222' according to the degree of freedom of the task and the task motion amount of the control node, the virtual joint component in the enabled state is controlled to be linked so as to control the motion amount of the task corresponding to the motion of the node to change the shape of the image model.
  • step S11222' it can be judged whether the task movement amount of each control node is valid.
  • each control node it is necessary to control each control node to move according to the task motion amount in the above step S11222' when the task motion amount of each control node is valid. For example, when the task movement amount of some of the control nodes is valid, it is sufficient to control the part of the control nodes to move according to the task movement amount in the above step S11222'. For another example, when the task motion amount of each control node is invalid, the above step S11222' is not executed, and the operator can be prompted to reconfigure a reasonable joint motion amount.
  • the validity of the task motion can be judged by using inverse kinematics to convert the task motion of the control node into the motion state parameters of each virtual joint component in a virtual arm body associated with the control node, and then compare with the corresponding threshold.
  • the motion state parameters include motion range, joint motion speed and/or joint motion acceleration.
  • other methods can also be used to judge the validity of the task motion, for example, to determine whether a virtual arm associated with the control node will collide with other virtual arms, and when a collision occurs, determine the task motion of the corresponding control node. Invalid, when no collision occurs, the task motion of the corresponding control node is judged to be valid.
  • the task motion can be an incremental pose or a target pose.
  • the incremental pose includes an incremental position and/or an incremental pose
  • the target pose includes a target position and/or a target pose.
  • the incremental task movement amount can be configured as follows:
  • At least one coordinate image 63 can be generated and displayed at the control node, and the coordinate image 63 includes an X coordinate axis, a Y coordinate axis and a Z coordinate axis, and the position of the control node can be determined based on at least the three coordinate axes.
  • the movement instruction in the operation instruction set may be derived from the click operation instruction input by the operator through the input device, and the click operation instruction includes the click position and the number of clicks.
  • the movement direction of the control node can be determined according to the click position in the triggered click operation instruction, and the increase in the corresponding movement direction of the control node along the coordinate axis can be determined according to the number of clicks. amount of task exercise.
  • each click corresponds to a fixed incremental task movement amount
  • this incremental task movement amount is an offset of a fixed step size (that is, an incremental position parameter), such as any value between 1mm and 10mm, such as 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm or 10mm.
  • the offset of the fixed step length can also be defined by the operator as a value other than 1mm to 10mm.
  • an icon 64 with an adjustable direction associated with the coordinate axis may be further generated in the corresponding coordinate axis of the coordinate image 63 .
  • the operator can click on the icon 64 to determine the movement direction of the control node rotating around the corresponding coordinate axis according to the click position in the triggered click operation instruction, and determine the increment of the control node's rotation in the movement direction according to the number of clicks task activity.
  • each click corresponds to a fixed incremental task movement amount
  • the incremental task movement amount is a rotation amount of a fixed step size (that is, an incremental attitude parameter), such as any value between 0.1° and 1°,
  • a fixed step size that is, an incremental attitude parameter
  • the rotation of the fixed step can also be defined by the operator as 0.1° ⁇ Values other than 1°.
  • the click operation instruction can also be compatible with the click duration, and the sum of the incremental task movement amount corresponding to the number of clicks and the incremental task movement amount corresponding to the click duration can be used as the final incremental task movement amount.
  • step S11221' that is, the step of analyzing the operation instruction set to obtain the task motion amount of the control node may include:
  • Step S112211' parse the click operation instruction to obtain the click position, the number of clicks and/or the click duration.
  • a valid click position is, for example, a click on a coordinate axis and/or a click on an icon used to adjust the direction at the coordinate axis.
  • Step S112212' determine the movement direction of the control node according to the click position, and determine the incremental task movement amount of the control node in the corresponding direction according to the number of clicks and/or click duration.
  • the above icons can be generated and displayed for all virtual joint components in the enabled state.
  • the selected control node and its corresponding movement direction can be determined together with the click position obtained by analyzing the click operation instruction.
  • the target task movement amount can be configured as follows:
  • the reference coordinate system of the image model can be the same as the reference coordinate system of the first part of the drive arm, that is, the two can actually be controlled based on the same reference coordinate system to achieve morphological
  • the pose of the control node can be solved by using forward kinematics.
  • the parameters corresponding to the pose can be numerically displayed at the control node. The operator can therefore refer to the numerically displayed pose and use the input device to set the desired movement amount of the target task.
  • the current pose of the control node is P 0 [x 0 ,y 0 ,z 0 , ⁇ 0 , ⁇ 0 , ⁇ 0 ], where x represents the coordinates in the horizontal direction, y represents the coordinates in the vertical direction, and z represents the coordinates in the vertical direction. Coordinates in the front and rear directions, ⁇ represents the yaw angle, ⁇ represents the pitch angle, and ⁇ represents the rotation angle.
  • P m is [x 0 +x m , y 0 , z 0 , ⁇ 0 , ⁇ 0 , ⁇ 0 ], which means that the operator only A target position is set for the X direction.
  • multiple mode instructions can be set to facilitate the quick configuration of the degree of freedom of the task, and these mode instructions include but are not limited to one of the first mode instruction, the second mode instruction, the third mode instruction, and the fourth mode instruction. or more, depending on your needs.
  • the first mode command is used to configure the task degree of freedom to be zero, that is, without any constraints;
  • the second mode command is used to configure the task degree of freedom to be a pose degree of freedom, and the pose degree of freedom includes more than one Positional degrees of freedom and one or more attitude degrees of freedom;
  • the third mode command is used to configure the task degrees of freedom as positional degrees of freedom, and the positional degrees of freedom include more than one;
  • the fourth mode command is used to configure the task degrees of freedom as attitude degrees of freedom, The attitude degrees of freedom include more than one.
  • the pose degrees of freedom corresponding to the second mode command are full pose degrees of freedom, that is, corresponding to all positions and pose-related degrees of freedom that can be achieved by the first part;
  • the position degrees of freedom corresponding to the third mode command are:
  • the attitude degree of freedom corresponding to the fourth mode command is the full attitude degree of freedom, that is, corresponding to all the position-related degrees of freedom that can be achieved by the first part. associated degrees of freedom.
  • the virtual joint component at the far end of the image model is in a driven state, and all joint components of the control node and the virtual joint component at the far end are configured in a disabled state to be regarded as a rigid body
  • the structure follows the movement of the control node.
  • the image model can be divided into two or more virtual arm bodies according to the number of control nodes for independent control to achieve the respective goals of the plurality of arm bodies.
  • all virtual arm bodies between the near-end virtual joint component and the control node (including the control node) in the image model are the first virtual arm body, and the control node (excluding the control node) All virtual arm bodies from the virtual joint assembly to the distal end are the second segment of virtual arm bodies.
  • all the virtual arm bodies between the near-end virtual joint component in the image model and the adjacent control nodes are the first virtual arm bodies, and each adjacent control node is the first virtual arm body.
  • All virtual arms between nodes are respectively the second segment of virtual arms (the number of the second segment of virtual arms is the same as the number of control nodes), and all virtual arms between the remote control node and the remote virtual joint components.
  • the arm body is the third segment virtual arm body.
  • the task movement amount needs to be configured separately for each control node. If the task motion is not configured for each control node, you can prompt to configure the task motion that is not configured, or you can ignore the control nodes without the task motion and only control the control nodes that are configured with the task motion.
  • the above-mentioned segmentation of the virtual arm in the image model and the segmented control are usually performed based on the fact that the control node does not include a distal virtual joint component.
  • the control node includes a virtual joint component at the far end, the last virtual arm body is not considered.
  • the virtual arm body of the image model is a whole section. That is, the virtual joint assembly at the proximal end to the virtual joint assembly at the distal end does not perform any segmentation, but is a whole segment.
  • the following description is made by taking the second mode command corresponding to all the pose degrees of freedom, the third mode command corresponding to all the position degrees of freedom, and the fourth mode command corresponding to all the posture degrees of freedom as an example.
  • control node The following is a brief description of the control node as an example.
  • control node is a virtual joint component at the far end of the image model:
  • all the virtual joint components at the proximal end of the control node are the first virtual arm body, and the first virtual arm body moves with the virtual joint components at the proximal end as the coordinate origin to achieve
  • the motion amount of the corresponding control node more specifically, for example, the linkage of the virtual joint components in the enabled state in the virtual arm body of the segment can be controlled according to inverse kinematics.
  • the first segment of virtual arm linkage can be controlled according to the configured task motion to make the control node move to achieve the task motion.
  • the first segment of virtual arm linkage can be controlled according to the configured task motion to keep the control node in position and only change the attitude.
  • the task movement amount should include the posture movement amount.
  • the first segment of virtual arm linkage can be controlled according to the configured task movement amount to keep the control node in the posture and only change the position.
  • the task movement amount should include the position movement amount.
  • control node is not a virtual joint component at the far end of the image model:
  • all virtual joint components at the proximal end of the control node are the first virtual arm body
  • all virtual joint components at the far end of the control node are:
  • the second segment of the virtual arm body, each segment of the virtual arm body moves independently with its proximal virtual joint component as the coordinate origin to achieve the motion amount of the corresponding control node. More specifically, for example, each segment of the virtual arm can be controlled according to inverse kinematics
  • the virtual joint components in the enabled state are linked.
  • the first segment of virtual arm linkage is usually controlled according to the configured task motion to make the control node move to achieve the task motion, and control The second segment of the virtual arm is linked to maintain the pose of the virtual joint assembly at the far end.
  • the first segment of virtual arm linkage is usually controlled according to the configured task motion to make the control node move to achieve the task motion, and control the first segment of the virtual arm.
  • the two-segment virtual arm is linked so that the virtual joint component at the far end maintains the position, and the posture is not constrained.
  • the first segment of virtual arm linkage is usually controlled according to the configured task motion to make the control node move to achieve the task motion and control the first segment of the virtual arm.
  • the two-segment virtual arm is linked so that the virtual joint component at the far end maintains the posture without the position constraint.
  • the above method is also applicable to the case where there are more than two control nodes.
  • the linkage of the virtual arm body between adjacent control nodes is added, and the linkage of the virtual arm body between adjacent control nodes and the control of the proximal end are added.
  • the linkage of the virtual arm body at the proximal end of the node and the linkage of the virtual arm body at the distal end of the remote control node are relatively independent, so as to jointly achieve the purpose of the first aspect and the purpose of the second aspect.
  • the reference coordinate system of each independently controlled virtual arm body is different, for example, the virtual arm body in the image model is divided into a first segment, a second segment and a third segment along the direction of the virtual arm body from the near segment to the distal end.
  • the reference coordinate system of the virtual arm body of the first segment can be based on the coordinate system of the closest virtual joint component in the virtual arm body of the first segment relative to the base coordinate system
  • the reference coordinate system of the virtual arm body of the second segment can be based on the virtual arm body of the first segment.
  • the coordinate system of the closest virtual joint component in the second-segment virtual arm body relative to the base coordinate system, and the reference coordinate system of the third-segment virtual arm body can be based on the closest virtual joint component in the third-segment virtual arm body relative to the base coordinate system coordinate system. That is, the virtual arm body of the first segment, the virtual arm body of the second segment, and the virtual arm body of the third segment all move with the virtual joint assembly at the proximal end as the origin.
  • the task movement amount corresponding to each control node only affects the movement of the segment of the virtual arm where it is located, and does not affect the movement of other segments of the virtual arm.
  • the above-mentioned virtual joint components that can be configured as enabled states, disabled states, and control nodes generally correspond to active joint components (ie, independently adjustable joint components) in real joint components. That is, the driven joint components in the virtual joint components corresponding to the real joint components (that is, the joint components coupled with the active joint components and following the movement of the active joint components) generally cannot be configured as above, for example, similar to the four-link structure
  • both the active joint assembly and the driven joint assembly of the real joint assembly can be configured as the first part.
  • the collision-prone parts are usually two or more real arms in a parallel structure. Therefore, in some embodiments, when detecting a real arm body that has a collision or a potential collision in the driving arm, on the one hand, the real arm body that has a collision or a potential collision is used as the first part, and then obtain and display the first part. On the other hand, it allows the operator to switch from the operation mode corresponding to the second switching instruction to the operation mode corresponding to the first switching instruction. Of course, whether it is necessary to switch the operation mode requires the operator's Confirmation to proceed.
  • the same change in the shape of the driving arm can be performed under some specific constraints.
  • constraints include, but are not limited to, the virtual joint components whose motion state can be changed in the image model should be the virtual joint components within the operating image provided by the image manipulation end-device, that is, within the field of view.
  • the image model 3' is located in the Only virtual joint components within the viewable area can be configured to change shape.
  • the virtual joint components located outside the field of view in the image model may be disabled by default.
  • the virtual joint components within the visual field or outside the visual field can be marked to prominently prompt the operator to perform subsequent operations on the image model.
  • the shape-changeable part of the image model may not be constrained, for example, when part or all of the instant image model does not exist within the field of view.
  • a user interface with an angle switching control for switching the display angle of the image model can be generated, and then the display angle of the image model can be switched according to the angle switching instruction generated by triggering the angle switching control, which is convenient for the operator to selectively select. View the state of the image model from different angles.
  • At least a part of the image model in the operation mode corresponding to the first switching instruction, at least a part of the image model, such as the near end or all of the virtual joint components, can be enlarged and displayed to facilitate configuration such as control nodes and their corresponding motions and facilitate observation. Changes in the morphology of the image model. Further, in switching to the operation mode corresponding to the second switching instruction, the enlarged image model can be restored to a normal size for display.
  • the acquired joint variables of each real joint component used to control the motion of the first part of the driving arm may be discontinuous, and the inertia of each real joint component of the first part is greatly influenced, these joint variables are directly used to The control of the first part is easy to cause the problem of jitter, that is, the movement is discontinuous. Therefore, in order to make the first part move continuously, as shown in FIG. 21 , in the above step S12, the corresponding real joint components in the first part can be controlled to move to make the first part move continuously.
  • Step S121 acquiring joint variables corresponding to the virtual joint components that cause the shape of the image model to change.
  • Step S122 Perform motion smoothing processing on the joint variables corresponding to the virtual joint components respectively to obtain the joint variables after the motion smoothing processing.
  • the control in the first part can be controlled according to the motion-smoothed joint variables corresponding to the virtual joint components.
  • the real joint components corresponding to the virtual joint components are moved so that the shape of the first part changes following the change of the shape of the image model, while the movement of the first part is continuous.
  • filtering processing and/or trajectory interpolation processing may be used to achieve the motion smoothing processing of the acquired joint variables of each real joint component in the first part, respectively.
  • the filtering process may use a low-pass filtering process, which allows low-frequency signals to pass normally and blocks or attenuates high-frequency signals exceeding a set threshold.
  • the trajectory interpolation process may perform spline curve fitting and interpolation based on the joint variables of each real joint component in the first part, so as to plan a smooth spline curve.
  • the two can be implemented independently or in combination to make the motion of the first part continuous, wherein the continuous motion includes one or more of continuous motion position, continuous motion speed, and continuous motion acceleration.
  • the motion smoothing process performed in step S122 may be performed before the shape of the image model is changed, that is, the motion smoothing process is performed on the input joint variables that change the shape of the image model, and the motion smoothing process may be used.
  • the latter joint variables change the shape of the image model on the one hand, and the shape of the first part of the drive arm on the other hand, so that the motion of the image model and the motion of the first part are both continuous.
  • the motion smoothing process performed in step S122 can be performed after the shape of the image model is changed, that is, only the shape of the first part of the driving arm can be changed by using the joint variables after the motion smoothing process, In this way, the movement of the image model may be discontinuous, but at least the movement of the first part can be guaranteed to be continuous.
  • the image model 3' can also be a more compact projection image model compared to the computer image model, as shown in Figure 23.
  • the method for obtaining the projection image model includes the following steps:
  • step S21 the feature point sequence of the first part and the kinematic model corresponding to the first part are obtained.
  • Step S22 acquiring joint variables of each joint in the first part sensed by the sensor.
  • Step S23 acquiring the virtual camera selected by the input unit.
  • the virtual camera is a non-actual camera, which does not actually collect an image of an object, and only embodies the concept of a viewpoint.
  • the virtual camera can have a configurable virtual field of view and virtual depth of field.
  • Step S24 according to the kinematic model of the first part and the joint variables, determine the projection point of each feature point in the feature point sequence of the first part on the projection plane of the virtual camera.
  • the manipulator has a sequence of feature points, which includes feature points Q1, Q2, Q3 and Q4. Under the virtual imaging of the virtual camera, a sequence of projection points is obtained on the projection plane, and the sequence of projection points corresponds to q1, q2, and q3 and q4.
  • the positions of Q1 and Q2 in space are obtained according to the kinematic model and joint variables as Q1 (X1, Y1, Z1) and Q2 (X2, Y2, Z2 respectively) ).
  • the projection points q1(x1, y1) and q2(x2, y2) of the feature point Q1 and the feature point Q2 on the projection plane are determined in combination with the virtual focal length and can be obtained by the following formula:
  • x2 fx*(X12/Z12)+cx;
  • fx is the focal length in the horizontal direction
  • fy is the focal length in the vertical direction
  • cx is the offset in the horizontal direction relative to the optical axis
  • cy is the offset in the vertical direction relative to the optical axis.
  • the values of fx and fy can be equal or unequal.
  • Step S25 orderly fitting and connecting the projection points to generate the projection image model of the first part.
  • Step S26 displaying the projected image model.
  • the projected image model can be obtained.
  • a computer-readable storage medium stores a computer program
  • the computer program is configured to be loaded by a processor and executed to realize the following steps: obtaining structural features and shapes and the drive arm change the shape of the image model consistent with the first part in the first part; control the movement of the corresponding real joint component in the first part so that the shape of the first part changes with the change of the shape of the image model.
  • a control device of a surgical robot may include: a processor (processor) 501 , a communication interface (Communications Interface) 502 , a memory (memory) 503 , and a communication bus 504 .
  • processor processor
  • Communication interface Communication Interface
  • memory memory
  • communication bus 504 a communication bus
  • the processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 .
  • the communication interface 502 is used to communicate with network elements of other devices such as various types of sensors or motors or solenoid valves or other clients or servers.
  • the processor 501 is configured to execute the program 505, and specifically may execute the relevant steps in the foregoing method embodiments.
  • the program 505 may include program code including computer operation instructions.
  • the processor 505 may be a central processing unit (CPU), or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, or a graphics processing unit (GPU) (Graphics Processing). Unit).
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • GPU graphics processing unit
  • One or more processors included in the control device may be the same type of processors, such as one or more CPUs, or one or more GPUs; or may be different types of processors, such as one or more CPUs and one or more GPUs.
  • the memory 503 is used to store the program 505 .
  • the memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
  • the program 505 can specifically be used to cause the processor 501 to perform the following operations: acquire the structural features and the shape changes of the image model consistent with the first part of the drive arm; control the movement of the corresponding real joint components in the first part to make the first part The shape changes with the shape of the image model.

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Abstract

一种手术机器人及其控制装置、控制方法，手术机器人包括驱动臂，驱动臂远端用于装卸末端器械（34），控制方法包括：获取结构特征及形态与驱动臂中第一部分（3）一致的图像模型（3'）的形态的变化（S11）；控制第一部分（3）中相应真实关节组件（3001~3005）运动以使第一部分（3）的形态跟随图像模型（3'）的形态的变化而变化（S12）。手术机器人操控方便、安全，且适用范围广。

Description

手术机器人及其控制方法、控制装置
本申请要求于2020年12月15日提交中国专利局、申请号为CN202011472821.7、申请名称为“手术机器人及其控制方法、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
本申请涉及医疗器械领域，特别是涉及一种手术机器人及其控制装置、控制方法。
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。手术机器人包括主操作台及从操作设备，从操作设备包括多个操作臂，这些操作臂包括具有图像末端器械的相机臂及具有操作末端器械的手术臂。主操作台包括显示器及手柄。医生在显示器显示的由相机臂提供的视野下操作手柄控制相机臂或手术臂运动。
然而，往往存在一些场景不方便甚至不允许医生对从操作设备进行操控，这样的场景包括但不限于对从操作设备中至少部分的形态有要求的场景、以及在不能提供可靠视野的情况下仍需要对从操作设备中至少部分进行操控等场景。在这些场景下如果医生强行操控从操作设备中至少部分，容易引发高危风险。
发明内容
基于此，有必要提供一种操控方便、安全，且适用范围广的手术机器人 及其控制装置、控制方法。
一方面，本申请提供了一种手术机器人的控制方法，所述手术机器人包括驱动臂，所述驱动臂远端用于装卸末端器械，所述控制方法包括如下步骤：获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化；控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化。
可选地，获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化的步骤中，包括：获取结构特征及形态与所述驱动臂中第一部分一致的图像模型并显示所述图像模型的至少部分；获取所述图像模型的形态的变化。
可选地，显示所述图像模型的至少部分的步骤具体为显示所述图像模型的全部。
可选地，所述驱动臂具有多个真实关节组件，所述图像模型至少具有与所述第一部分所包含的真实关节组件相对应的虚拟关节组件，所述虚拟关节组件具有与相应所述真实关节组件一致的关节运动参数，以使所述图像模型的形态的可调性能够与所述第一部分的形态的可调性能一致，其中，所述关节运动参数包括关节运动范围、关节运动速度阈值及关节运动加速度阈值。
可选地，在控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，所述第一部分的形态的变化完全复刻所述图像模型的形态的变化。
可选地，所述第一部分的形态的变化完全复刻所述图像模型的形态的变化具体指：所述第一部分的形态的变化与所述图像模型的形态的变化具有完全相同的运动状态，所述完全相同的运动状态包括相同的运动轨迹和相同的运动速度。
可选地，在控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，所述第一部分的形态的变化部分复刻所述图像模型的形态的变化。
可选地，所述第一部分的形态的变化部分复刻所述图像模型的形态的变化具体指：所述第一部分的形态的变化与所述图像模型的形态的变化具有不完全相同的运动状态、但至少最终形态相同，所述不完全相同的运动状态包括运动轨迹不同或运动速度不同。
可选地，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，包括：在检测到设置的调整模式是间歇调整模式时，检测是否获取到确认指令；在获取到确认指令时，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化。
可选地，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，包括：在检测到设置的调整模式是连续调整模式时，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化。
可选地，所述第一部分的形态基本同步于所述图像模型的形态的变化而变化，或者所述第一部分的形态滞后于所述图像模型的形态的变化而变化。
可选地，所述第一部分的形态的改变速度低于所述图像模型的形态的改变速度。
可选地，获取所述图像模型的形态的变化的步骤之前，包括：接收输入的用于改变所述图像模型的形态的操作指令集；根据所述操作指令集改变所述图像模型的形态，并至少显示所述图像模型的最终形态。
可选地，所述操作指令集关联于所述图像模型在关节空间内的任务，根据所述操作指令集改变所述图像模型的形态的步骤中，包括：解析所述操作指令集获得所述图像模型中的控制节点及其对应的具有方向性的关节运动量；根据所述控制节点及其对应的所述关节运动量使得相应所述控制节点运动对应的所述关节运动量以改变所述图像模型的形态。
可选地，所述关节运动量是增量关节运动量。
可选地，所述操作指令集包括点击操作指令，解析所述操作指令集获得 控制节点的对应的具有方向性的关节运动量的步骤中，包括：解析所述点击操作指令获得点击位置、以及点击次数及/或点击时长；根据所述点击位置确定所述控制节点的运动方向，并根据所述点击次数及/或所述点击时长确定所述控制节点在相应方向上的所述增量关节运动量。
可选地，所述控制方法还包括：生成所述控制节点的运动副的可调方向的、用于被点击的图标，其中，所述点击位置落入所述图标上表示选择所述控制节点的运动方向，所述点击次数及/或所述点击时长表示设置所述控制节点在相应运动方向的增量关节运动量。
可选地，所述关节运动量是目标关节运动量。
可选地，所述操作指令集关联于所述图像模型在任务空间内的任务，根据所述操作指令集改变所述图像模型的形态的步骤中，包括：解析所述操作指令集获得所述图像模型中的控制节点、所述控制节点的任务运动量、最远端的虚拟关节组件的任务自由度及处于使能状态的所述虚拟关节组件；根据最远端的所述虚拟关节组件的所述任务自由度、所述控制节点的任务运动量控制处于使能状态的所述虚拟关节组件联动使得所述控制节点运动对应的所述任务运动量以改变所述图像模型的形态。
可选地，所述任务运动量是增量任务运动量，所述增量任务量包括增量位置和增量姿态。
可选地，所述操作指令集包括点击操作指令，解析所述操作指令集获得控制节点对应的任务运动量的步骤中，包括：解析所述点击操作指令获得点击位置、及点击次数及/或点击时长；根据所述点击位置确定所述控制节点的运动方向，并根据所述点击次数及/或所述点击时长确定所述控制节点在相应方向上的所述增量任务运动量。
可选地，所述控制方法包括：至少生成关联于所述控制节点的且包括X坐标轴、Y坐标轴及Z坐标轴的坐标图像，其中，所述点击位置落入相应所述坐标轴表示选择所述控制节点的运动方向，所述点击次数及/或所述点击时长表示设置所述控制节点在相应运动方向的所述增量位置。
可选地，至少生成关联于所述控制节点的且包括X坐标轴、Y坐标轴及Z坐标轴的坐标图像的步骤中，还包括：在所述坐标图像中生成关联于各所述坐标轴的可调方向的图标，其中，所述点击位置落入相应所述坐标轴表示选择所述控制节点的转动方向，所述点击次数及/或所述点击时长表示设置所述控制节点在相应运动方向的所述增量姿态。
可选地，所述任务运动量是目标任务运动量。
可选地，所述操作指令集包括模式配置指令，所述模式配置指令包括第一模式指令、第二模式指令、第三模式指令及第四模式指令中的一种以上，所述第一模式指令用于配置任务自由度为零任务自由度，所述第二模式指令用于配置任务自由度为位姿自由度，所述第三模式指令用于配置任务自由度为位置自由度，所述第四模式指令用于配置任务自由度为姿态自由度。
可选地，所述控制节点为一个且所述控制节点是远端的所述虚拟关节组件时，将所述图像模型中全部所述虚拟关节组件作为第一段虚拟臂体，进而根据所述任务自由度、所述控制节点及其所述任务运动量控制所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动使得所述控制节点运动对应的所述任务运动量以改变所述图像模型的形态。
可选地，所述控制节点为一个且所述控制节点是最远端的所述虚拟关节组件时，将所述图像模型中全部所述虚拟关节组件作为第一段虚拟臂体，进而根据所述任务自由度、所述控制节点的所述任务运动量控制所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动使得所述控制节点运动对应的所述任务运动量以改变所述图像模型的形态。
可选地，所述控制节点为一个且所述控制节点并非最远端的所述虚拟关节组件时，将所述控制节点近端的全部所述虚拟关节组件作为第一段虚拟臂体，将所述控制节点远端的全部所述虚拟关节组件作为第二段虚拟臂体，所述控制节点属于近端的一段虚拟臂体，进而根据所述任务自由度、所述控制节点的所述任务运动量控制所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动使所述控制节点运动所述任务运动量、同时控制所述第二段虚 拟臂体中处于使能状态的所述虚拟关节组件独立于所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动实现所述任务自由度。
可选地，所述控制节点为两个以上且其中一个是最远端的所述虚拟关节组件时，将全部所述虚拟关节组件划分成与所述控制节点数量相同的多段虚拟臂体，各所述控制节点仅属于相应所述控制节点近端侧的一段所述虚拟臂体，进而控制最远的一段所述虚拟臂体中处于使能状态的所述虚拟关节组件联动实现所述任务自由度约束下最远端的所述控制节点的所述任务运动量、同时控制其它段所述虚拟臂体中处于使能状态的所述虚拟关节组件分别联动使相应所述控制节点运动对应的任务运动量，其中，不同所述虚拟臂体的运动相对独立。
可选地，所述控制节点为两个以上且均不是最远端的所述虚拟关节组件时，将全部所述虚拟关节组件划分成比所述控制节点数量多一个的多段虚拟臂体，各所述控制节点仅属于其相应所述控制节点近端侧的一段所述虚拟臂体，进而控制最远的一段所述虚拟臂体中处于使能状态的所述虚拟关节组件联动实现最远端的所述控制节点的所述任务自由度、同时控制其它段所述虚拟臂体中处于使能状态的所述虚拟关节组件分别运动使相应所述控制节点运动对应的任务运动量，其中，不同所述虚拟臂体的运动相对独立。
可选地，可被配置成使能状态的所述虚拟关节组件、及可被配置成所述控制节点的所述虚拟关节组件对应于所述驱动臂中第一部分中的主动关节组件。
可选地，获取所述图像模型的形态的变化的步骤之前，包括：放大显示所述图像模型的至少部分。
可选地，所述控制方法还包括：生成具有用于切换所述图像模型显示角度的角度切换控件的用户界面，进而可根据触发所述角度切换控件产生的角度切换指令切换所述图像模型的显示角度。
可选地，所述图像模型可被改变形态的部分对应于所述驱动臂中第一部分存在于所述手术机器人中图像末端器械的视野范围内的部分。
可选地，所述图像模型计算机图像模型或者投影图像模型。
可选地，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤之前，包括：获取导致所述图像模型的形态发生变化的虚拟关节组件对应的关节变量；对所述虚拟关节组件对应的所述关节变量分别进行运动平滑处理获得经运动平滑处理后的关节变量；控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤具体为：根据所述虚拟关节组件对应的经运动平滑处理后的所述关节变量控制所述第一部分中相应于所述虚拟关节组件的所述真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化，同时使得所述第一部分的运动连续。
可选地，对所述虚拟关节组件对应的所述关节变量分别进行运动平滑处理获得经运动平滑处理后的关节变量的步骤在根据所述操作指令集改变所述图像模型的形态之前进行，以使得所述图像模型的运动连续，并使得所述第一部分的运动连续。
可选地，对所述虚拟关节组件对应的所述关节变量分别进行运动平滑处理获得经运动平滑处理后的关节变量的步骤在根据所述操作指令集改变所述图像模型的形态之后进行，以仅使得所述第一部分的运动连续。
可选地，所述运动平滑处理包括滤波处理及/或轨迹插补处理；所述运动连续包括运动位置连续、运动速度连续以及运动加速度连续中的一种及以上。
又一方面，本申请提供了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处理器加载并执行实现如上述任一实施例所述的控制方法的步骤。
又一方面，本申请提供了一种手术机器人的控制装置，包括：存储器，用于存储计算机程序；及处理器，用于加载并执行所述计算机程序；其中，所述计算机程序被配置为由所述处理器加载并执行实现如上述任一实施例所述的控制方法的步骤。
又一方面，本申请提供了一种手术机器人，包括：驱动臂；显示器，用 于显示图像模型；输入装置，用于操纵所述图像模型的形态发生变化；以及控制器，所述控制器与所述驱动臂、所述显示器及所述运动输入设备耦接，并被配置成执行如上述任一实施例所述的控制方法的步骤。
可选地，所述驱动臂包括机械臂及操作臂，所述操作臂近端装设于所述机械臂远端，所述末端器械装设于所述操作臂远端，所述第一部分是所述操作臂，或者，所述第一部分是所述机械臂和所述操作臂。
可选地，所述驱动臂包括机械臂、调整臂、操纵器及操作臂，所述调整臂近端装设于所述机械臂远端，所述操纵器近端装设于所述调整臂远端，所述操作臂近端装设于所述操纵器远端，所述末端器械装设于所述操作臂远端，所述第一部分是所述操作臂，或者，所述第一部分是所述操纵器和所述操作臂，或者，所述第一部分是所述机械臂、所述调整臂、所述操纵器和所述操作臂。
可选地，所述输入装置是运动输入设备、触摸屏、鼠标中的一种以上。
本申请的手术机器人及其控制装置、控制方法，具有如下有益效果：
通过获取对于与驱动臂中第一部分的结构特征及初始形态一致的图像模型的形态的改变，进而控制该第一部分的形态跟随图像模型的形态的改变而改变，其操控方便、安全，且适用范围广。
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所示手术机器人一实施例的局部示意图；
图3为手术机器人中操作臂与动力部的结构示意图；
图4为本申请手术机器人另一实施例的结构示意图；
图5为图1所示手术机器人的配置第一部分的一实施例的配置界面；
图6为图1所示手术机器人的配置第一部分的另一实施例的配置界面；
图7～图11分别为本申请一实施例手术机器人的控制方法的流程图；
图12为本申请手术机器人一实施例驱动臂中第一部分的形态的示意图；
图13为本申请手术机器人一实施例图像模型的形态的示意图；
图14为本申请手术机器人一实施例图像模型的另一形态的示意图；
图15为本申请手术机器人一实施例驱动臂中第一部分的另一形态的示意图；
图16为本申请一实施例手术机器人的控制方法的流程图；
图17～图18分别为本申请手术机器人一实施例图像模型的形态的示意图；
图19～图22分别为本申请一实施例手术机器人的控制方法的流程图；
图23为图22所示手术机器人的控制方法一实施例的显示界面示意图；
图24为本申请一实施例的手术机器人的控制装置的结构示意图。
图25为本申请一实施例的手术机器人的控制装置的结构示意图。
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，并不限于本申请所描述的实施方式。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“耦接”另一个元件，它可以是直接耦接到另一个元件或者可能同时存在居中元件。本申请所使用的术语“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。本申请所使用的术语“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。本申请所使用的术语“第一/第二”等表示一个部件以及一类具有共同特性的两个以上的部件。
除非另有定义，本申请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。本申请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。本申请所使用的术语“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。本申请中所使用的术语“各”包括一个或两个以上。
如图1至图2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2及由主操作台2控制的从操作设备3。主操作台2具有运动输入设备21及显示器22，医生通过操作运动输入设备21向从操作设备3发送控制命令，以令从操作设备3根据医生操作运动输入设备21的控制命令执行相应操作，并通过显示器22观察手术区域。其中，从操作设备3具有驱动臂，驱动臂具有机械臂30及可拆卸地装设于机械臂30远端的一个以上的操作臂31。机械臂30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，通过调节操作臂31的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。图像末端器械34A用于采集视野内的图像，显示器22用于显示该图像。操作末端器械34B用于执行手术操作如剪切、缝合。本文令具有图像末端器械34A的操作臂为相机臂31A，并令具有操作末端器械34B的操作臂为手术臂31B。
图1展示的手术机器人为单孔手术机器人，各操作臂31通过装设于机械臂30远端的同一个穿刺器4插入至患者体内。在单孔手术机器人中，医生一般仅对操作臂31进行控制以完成基本手术操作。此时，单孔手术机器人的操作臂31应当同时具有位置自由度(即定位自由度)和姿态自由度(即定向自由度)，以实现在一定范围内位姿的变化，例如操作臂31具有水平移动自由度x、竖直移动自由度y，自转自由度α、俯仰自由度β及偏航自由度γ，操作臂31还可以在机械臂30远端关节组件即动力机构301的驱动下实现前后 移动自由度z(即进给自由度)，此外，一些实施例中，还可以为操作臂31设置冗余自由度以实现更多功能的可能性，例如，在上述可实现6自由度的前提下，额外再设置一个、两个甚至更多个自由度。例如，动力机构301具有导轨和滑动设置于导轨上的动力部，操作臂31可拆卸的装设于动力部上，一方面，动力部在导轨上的滑动提供操作臂31前后移动自由度z，另一方面，动力部为操作臂31的关节组件提供动力实现其余5个自由度(即[x,y,α,β,γ])。
手术机器人还包括控制器。控制器可以集成于主操作台2，也可以集成于从操作设备3。当然，控制器也可以独立于主操作台2和从操作设备3，其例如可部署在本地，又例如控制器可以部署在云端。其中，控制器可以由一个以上的处理器构成。
手术机器人还包括输入部。输入部可以集成于主操作台2。输入部也可以集成于从操作设备3。当然，输入部也可以独立于主操作台2和从操作设备3。该输入部例如可以是鼠标、键盘、语音输入装置、触摸屏。一实施例中，采用触摸屏作为输入部，触摸屏例如可以设置于主操作台2的扶手上。
操作臂31还包括感应关节组件的关节变量的传感器。这些传感器包括感应关节组件转动运动的角度传感器及感应关节组件线性运动的位移传感器，具体可根据关节组件的类型来配置适应的传感器。
控制器与这些传感器耦接，并与输入部及显示器22耦接。
示例性的，如图3所示，操作臂31的驱动盒310抵接于动力机构301的动力部302的抵接面装设有存储单元311，相应在动力部302抵接于驱动盒310的抵接面装设有与存储单元311配套的读取单元303，该读取单元303与控制器耦接，操作臂31装设于动力部302时，读取单元303与存储单元311通讯，读取单元303从存储单元311中读取相关信息。该存储单元311例如是存储器、电子标签。存储单元例如存储有操作臂的类型、操作臂可被配置成目标部位的部位、操作臂的运动学模型等。例如，相机臂31A的存储单元311中还额外的存储有相机参数。
如图4所示，其为本申请手术机器人一实施例的结构示意图，更具体地，图4所展示的是多孔手术机器人一实施例的结构示意图。图4所示的多孔手术机器人与图1所示的单孔手术机器人之间的区别主要存在于两者的从操作设备之间的区别。图4所示的多孔手术机器人中从操作设备的驱动臂具有依次连接的机械臂110、调整臂120、操纵器130及操作臂150。调整臂120、操纵器130及操作臂150数量相同且均为两个以上，例如四个，机械臂110远端具有定向平台，调整臂120近端均连接于定向平台，操纵器130近端连接于调整臂120远端。操纵器130用于可拆卸地连接操作臂150，操纵器130具有多个关节组件。在多孔手术机器人中，不同操作臂150通过不同的穿刺器插入患者体内，多孔手术机器人的操作臂150相较于单孔手术机器人的操作臂31而言，一般具有较少的自由度，通常，操作臂150仅具有姿态自由度(即定向自由度)，当然其姿态的变化一般也对位置产生影响，但因为影响较小某些场景下可以被忽略。操作臂150的位置的变化通常可以由操纵器130辅助实现，由于操纵器130与操作臂150联动实现位姿变化，可以将这两者认为是操纵器组件，与单孔手术机器人中操作臂31相当。
根据配置，运动输入设备21可以输入包括位置指令及姿态指令的位姿指令以控制驱动臂中第一部分远端位姿的变化。该第一部分远端通常指末端器械，此外，该第一部分远端还可以指与末端器械相连接的一个关节组件，末端器械位姿的变化通常与该关节组件位姿的变化是一致的。
在图1所示的手术机器人中，驱动臂包括机械臂及操作臂，操作臂近端装设于机械臂远端，末端器械装设于操作臂远端。根据配置，第一部分可被配置成是操作臂；或者，第一部分可被配置成是机械臂和操作臂的整体。
而相应在图4所示的手术机器人中，驱动臂包括机械臂、调整臂、操纵器及操作臂，调整臂近端装设于机械臂远端，操纵器近端装设于调整臂远端，操作臂近端装设于操纵器远端，末端器械装设于操作臂远端。根据配置，第一部分可被配置成是操作臂；或者，第一部分可被配置成是操纵器和操作臂的整体；或者，第一部分可被配置成是机械臂、调整臂、操纵器和操作臂的 整体。
可理解的，无论是图1所示的单孔手术机器人还是图4所示的多孔手术机器人，机械臂通常用于大范围调节末端器械的位姿，操作臂用于精细调节末端器械的位姿，例如，手术前通过机械臂等摆位，手术中主要通过控制操作臂实施手术。当然，一些实施例中，也可以结合机械臂及操作臂等相应臂体结构一起协同运动实现特定功能。
一实施例中，可以在手术机器人的系统文件中定义出驱动臂中期望作为第一部分所关联的结构，在手术机器人的系统初始化时从系统文件中读取出该第一部分所关联的结构并应用于后述实施例即可。
一实施例中，也可以根据驱动臂的构型的描述信息实时生成用于配置该第一部分的配置界面。该描述信息包括驱动臂中各部分中全部关节组件的连杆参数等。例如，该配置界面含有关联于该驱动臂的各部分结构的、可供选择的控件以供医生配置。该控件例如可以是文本控件、选项控件如下拉列表控件、按钮控件等多种形式。
较佳的，为了更加便于医生更加直观的通过配置界面配置该第一部分，可以根据驱动臂的构型的描述信息生成相关联的、且含有可供选择的控件的图像模型。该图像模型可以是复杂结构示意的计算机图像模型。该图像模型可跟随驱动臂状态的变化而变化。当然，该图像模型也可不跟随驱动臂状态的变化而只反映例如初始状态(如关节变量为零位时)等某一时刻下驱动臂的构型。图像模型上的控件例如是图标控件，更具体地可以是光点、光圈等。
示例性的，对于图1所示的手术机器人，驱动臂中的机械臂及操作臂可以分别对应一个控件以供选择它们的整体作为第一部分；对于图4所示的手术机器人，驱动臂中的机械臂、调整臂、操纵器及操作臂可以分别对应一个控件以供选择它们的整体作为第一部分。此外，多个独立设置的以协作完成手术的手术机器人也可以进行上述第一部分的设置，这样的多个手术机器人不具备同一机械臂。
示例性的，对于图1及图4所示的手术机器人，驱动臂中各关节组件均 可以分别对应一个控件以供选择它们的局部或整体作为第一部分，其中，未被选择的整体或局部被系统视为非铰接结构从而禁止它们运动即可。可以获取医生通过输入部绘制的至少覆盖图像模型中部分控件的封闭的图形，进而将该图形内含有的(即围合的)所有部分全部作为第一部分。这样的设计能够提高第一部分的配置效率。
如图5和图6所示，图5和图6分别示意了图1所示手术机器人的配置第一部分的一实施例的配置界面。在图5和图6中，例如可用图标控件“○”代表可被配置成第一部分中至少部分的部位，并可用图标控件“●”代表被配置成第一部分中至少部分的部位。如图5所示，图像模型基本示意了图1所示的单孔手术机器人的基本构成，其中，机械臂和操作臂Arm1～Arm3分别对应含有一个可供选择的控件，是否选择该控件对应确定了是否将其对应的臂体部分作为第一部分，例如在图5中，仅选择将操作臂Arm1整体配置成第一部分，同时操作臂Arm1远端的末端器械被配置成受控末端器械。如图6所示，图像模型中的机械臂和操作臂Arm1～Arm3分别对应含有多个可供选择的控件，机械臂及操作臂Arm1～Arm3中控件的数量基本与其各自所具有的关节组件的数量相同，每个控件例如可以代表其中一个相应的关节，例如在图5中，由于选中了操作臂Arm3所有控件，进而相当于将操作臂Arm3整体配置成第一部分。
在应用于后续实施例时，预先获取医生根据该配置界面配置的第一部分进而利用该第一部分实现本申请的目的即可。这样的设计可更加易于医生灵活的配置出期望的第一部分以适用不同应用场景。
根据配置，末端器械中的一个以上可以被配置成受控末端器械以接受运动输入设备的控制。
一实施例中，提供一种手术机器人的控制方法，该控制方法可以由控制器执行。如图7所示，该控制方法包括如下步骤：
步骤S11，获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化。
该图像模型主要用于辅助显示驱动臂中第一部分的运动状态，运动状态包括位置、姿态、速度、加速度等，为了便于直观、静态地观察的目的，通常要求图像模型的形态应当与驱动臂中第一部分的形态始终保持一致，“形态”指形状姿态，并由位置及姿态所导致。通常，从因变量、自变量的角度考虑，驱动臂中第一部分的运动状态的变化为自变量，图像模型的运动状态的变化为因变量，图像模型的运动状态跟随驱动臂中第一部分的运动状态的变化而变化。
现有技术中，可能能够对该图像模型的呈现视角进行主动调整，但少见能够对该图像模型的形态进行主动调整以用于影响驱动臂中第一部分的形态。本申请为了实现能够对图像模型的形态进行调整以影响驱动臂中第一部分的形态的目的，为该图像模型配置了与驱动臂中第一部分相同的结构特征，这些结构特征包括但不限于构型、连杆参数。例如，驱动臂具有多个真实关节组件，图像模型具有相应于第一部分的真实关节组件的虚拟关节组件，虚拟关节组件具有与相应真实关节组件一致的关节运动参数，以使图像模型的形态的可调性能与第一部分的形态的可调性能保持一致。其中，关节运动参数包括关节运动范围、关节运动速度阈值及关节运动加速度阈值。
其中，本申请可以对图像模型的形态进行主动调整，因而可以单独的获取该图像模型的形态的变化。其中，对图像模型的形态的主动调整可以利用前述的运动输入设备、鼠标、触摸屏、语音识别设备、及/或手势识别设别等其他类型的与控制器耦接的输入设备。
同一时刻，对于图像模型的形态的调整及对于驱动臂中第一部分的形态的调整通常只能二者择其一，以避免发生紊乱，进而确保手术动作的一致性及安全性。一实施例中，可以配置两个切换指令以切换可被调整的对象，该两个切换指令包括第一切换指令及第二切换指令，其中，第一切换指令用于禁用对驱动臂中第一部分的形态的主动控制功能、并使能对图像模型的形态的主动控制，第二切换指令用于禁用对图像模型的形态的主动控制、并使能对驱动臂中第一部分的形态的主动控制功能。
通常，在该步骤S11之前，该控制方法可以包括：检测是否获取到第一切换指令。进而在获取到第一切换指令时，执行步骤S11。
步骤S12，控制第一部分中相应真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化。
其中，第一部分的形态的变化与图像模型的形态的变化一致，这里的“一致”可以容许略微的差别，其影响因素是客观因素，例如驱动臂中第一部分的传动不精确等原因引起的差别。
一实施例中，第一部分的形态是否跟随图像模型的形态发生变化需要在得到操作人员的人工确认后才能进行，例如，在步骤S12之前，可以包括：检测是否获取到确认指令，在获取到确认指令之后执行步骤S12，否则，继续检测是否获取到确认指令。可以将这样有干预的调整模式理解成间歇调整模式，有利于先将图像模型摆放成合理形态之后再控制驱动臂中的第一部分跟随图像模型的形态发生变化。
另一实施例中，第一部分的形态是否跟随图像模型的形态发生变化也可以不需要在得到操作人员的人工确认后才进行，而是只要图像模型的形态发生变化，则第一部分的形态就跟随变化。可以将这样没有干预的调整模式理解成连续调整模式。其中，在连续调整模式中，例如，经配置，第一部分的形态可以基本同步于图像模型的形态的变化而变化；经配置，第一部分的形态可以滞后于图像模型的形态的变化而变化，例如间隔1s～10s变化，这样的设置有助于为及时重新调整图像模型的形态提供可能性，也即有助于在发现调整的图像模型的形态不是所期望的情况之时能够及时中断对第一部分的形态的调整，具有与间歇调整模式基本相同的作用。
上述具体采用间歇调整模式还是连续调整模式来对第一部分的形态进行调整例如可以由操作人员预先进行配置。
通常，切换至图像控制模式前，由于图像模型的结构特征与初始形态与驱动臂中第一部分是完全相同的，一些实施例中，第一部分的形态的变化可以完全复刻图像模型的形态的变化，其中，对于“完全复刻”或“完全复制” 的定义可以是：两者具有完全相同的运动状态，包括运动轨迹相同、运动速度相同等，而实现“完全复刻”的方法是：将调整图像模型的形态改变的参数未经处理的直接发送至控制器进而基于这些参数控制驱动臂中第一部分运动实现形态的改变；而在另一些实施例中，第一部分的形态的变化也可以部分复刻图像模型的形态的变化，对于“部分复刻”或“部分复制”的定义可以是：两者具有不完全相同的运动状态、但至少最终形态相同，例如两者运动轨迹不同或者两者运动速度不同，而实现“部分复刻”的方法是：将调整图像模型的形态改变的参数经处理后再发送至控制器进而基于这些参数控制驱动臂中第一部分运动实现形态的改变。例如，可通过对调整图像模型的形态改变的参数进行抽样后再发送至控制器进而基于这些抽样参数控制驱动臂中第一部分运动实现形态的改变的方法可以使得两者运动轨迹不完全相同。
例如，还可通过设置运动速度系数来调整驱动臂中第一部分的运动速度以使两者的运动速度不同。一些实施例中，可以设定一个小于1的运动速度系数来控制驱动臂中第一部分运动以使得其相较于图像模型的形态的改变速度具有更低的改变速度，这样具有例如降低实际存在的碰撞风险的好处，因为即使碰撞也因为速度低的原因碰撞的惯量也相对较小。当然，其它实施例中，也可以设定一个大于1的运动速度系数来控制驱动臂中第一部分运动以使得其相较于图像模型的形态的改变速度具有更高的改变速度，这样的使用场景例如可以是确保不会出现碰撞的前提下而使用的。
根据上述步骤S11～步骤S12，即将图像模型的形态的变化作为自变量并将驱动臂中第一部分的形态的变化作为因变量进行控制，以使驱动臂中第一部分的形态跟随图像模型的形态的变化而变化，能够提供一种全新的控制方式，尤其适用于一些不太适合直接对驱动臂中第一部分的形态进行控制的场景使用，例如用于解除碰撞的场景，又例如用于将第一部分摆成需要的形态的场景。
一实施例中，如图8所示，上述步骤S11，即获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化的步骤包括：
步骤S111，获取结构特征及形态与驱动臂中第一部分一致的图像模型并显示图像模型的至少部分。
其中，通常显示对应于第一部分的图像模型的全部。当然，也可以只显示对应于第一部分的图像模型的部分，例如，仅显示完整的图像模型的远端或包含远端的一部分。无论显示的是图像模型的全部还是部分，均可以对所显示的部分利用下文所记载的方式以通过改变图像模型的形态进而改变第一部分的形态，例如，均可采用配置图像模型的关节空间的任务及/或配置图像模型的任务空间的任务来改变图像模型及第一部分的形态。
步骤S112，获取图像模型的形态的变化。
一实施例中，如图9所示，在步骤S112之前，即获取图像模型的形态的变化的步骤之前，还可以包括：
步骤S1121，接收输入的用于改变图像模型的形态的操作指令集。
该操作指令集包括一个以上的指令。
步骤S1122，根据操作指令集改变图像模型的形态。
其中，在调整图像模型的过程中，可以显示图像模型的最终形态或包括中间形态的最终形态。
其中，中间形态指最终形态之前的所有过渡形态。也即，图像模型形态的改变可以直接呈现最终形态，当然，也可以呈现整个变化过程对应的中间形态及变化结束时的最终形态。
大致而言，可以从两个方面来改变图像模型的形态。第一方面，可以从关节空间这个角度入手以改变图像模型的形态；第二方面，可以从任务空间这个角度入手以改变图像模型的形态。
一实施例中，基于上述的第一方面考虑，步骤S1121中的操作指令集是用于配置图像模型在关节空间内的任务的操作指令集。
例如，系统默认图像模型中的各虚拟关节组件均为禁用状态，该操作指令集可以包括使能指令及移动指令，该使能指令用于配置一个或多个禁用状态的虚拟关节组件为使能状态，该移动指令用于选定某个使能状态的虚拟关 节组件以作为控制节点并为该控制节点配置关节空间内的关节运动量。其中，禁用状态的虚拟关节组件的运动范围被限制以作为刚体结构，使能状态的虚拟关节组件的运动范围则不作限制为自由状态。
进而，如图10所示，上述步骤S1122中根据操作指令集改变图像模型的形态的步骤可以这样进行，即：
步骤S11221，解析操作指令集获得控制节点及其对应的关节运动量。
其中，获得的关节运动量通常具有方向性。在本申请中，相应控制节点的关节运动量仅改变该控制节点自身的运动状态而不影响其它控制节点。
步骤S11222，根据控制节点及其对应的关节运动量使得相应控制节点独立运动对应的关节运动量以改变图像模型的形态。
在该步骤S11222之前，可以先判断各控制节点的关节运动量是否有效。
其中，有多种策略可供操作人员选择使用。例如，需要在各控制节点的关节运动量均有效时，在上述步骤S11222中控制各控制节点根据关节运动量运动。例如，部分控制节点的关节运动量有效时，在上述步骤S11222中控制该部分控制节点根据关节运动量运动即可。又例如，各控制节点的关节运动量具有一个无效时，不执行在上述步骤S11222，并可提示操作人员重新配置合理的关节运动量。有效性的判断标准举例可以是控制节点的关节运动状态参数例如运动范围、关节运动速度及/或关节运动加速度。
一些实施例中，在同一时刻，可以仅允许多个虚拟关节组件中的一个可被配置成控制节点，以简化对图像模型的形态的改变操作，而且在这样的操作下图像模型的形态的改变的效果会更加易于观察、理解。需要对多个虚拟关节组件进行调节时，在不同时刻配置不同的控制节点及其关节运动量即可。
上述的关节运动量可以是增量关节运动量，还可以是目标关节运动量。对于转动关节而言，关节运动量可以是增量关节角或目标关节角；对于滑动关节而言，关节运动量可以是增量关节偏移量或目标关节偏移量。
一实施例中，增量关节运动量可以这样进行配置：
至少可以对控制节点生成并显示展示运动副的第一图标，运动副对应于 转动关节为转动轴，运动副对应于移动关节为移动轴。并且，可以在运动副中生成并显示关联于运动副的可调方向的第二图标。示例性的，操作指令集中的移动指令可以来源于操作人员借助于如运动输入设备、鼠标、触摸屏等输入装置输入的点击操作指令，该点击操作指令包括点击位置和点击次数。例如，操作人员点击某一运动副关联的第二图标就可以根据触发的点击操作指令中的点击位置确定该控制节点的运动方向、并根据点击次数就可以确定该控制节点在相应运动方向上的增量关节运动量。每次点击均对应一个固定的增量关节运动量，其中，对于转动关节而已，这个增量关节运动量是一个固定步长的转动量，如0.1°～1°之间的任意值，如0.1°、0.2°、0.3°、0.4°、0.5°、0.6°、0.7°、0.8°、0.9°或1°，当然，该固定步长的转动量还可以有操作人员定义为0.1°～1°以外的值；对于移动关节而言，这个增量关节运动量是一个固定步长的偏移量，如1mm～10mm之间的任意值，如1mm、2mm、3mm、4mm、5mm、6mm、7mm、8mm、9mm或10mm，当然，该固定步长的偏移量还可以由操作人员定义为1mm～10mm以外的值。
一些实施例中，点击操作指令中的点击次数可替代为点击时长，其中，单位时间t 0对应的增量关节运动量为s 0，则点击时长t对应的增量关节运动量s＝(t/t 0)*s 0。此外，点击操作指令还可兼容包括点击时长，可以将点击次数对应的增量关节运动量与点击时长对应的增量关节运动量之和作为最终的增量关节运动量。
进而，如图11所示，上述步骤S11221中，即解析操作指令集获得控制节点的对应的关节运动量的步骤可以包括：
步骤S112211，解析点击操作指令获得点击位置、以及点击次数及/或点击时长。
其中，有效的点击位置例如是对于第二图标的点击。
步骤S112212，根据点击位置确定控制节点的运动方向，并根据点击次数及/或点击时长确定控制节点在相应方向上的增量关节运动量。
本申请以图1所示的手术机器人中从操作设备的机械臂作为驱动臂的第 一部分为例进行说明。如图12至图15所示，该第一部分3包括真实关节组件3001～3005，有与之相应地，图像模型3’包括分别对应于真实关节组件3001～3005的虚拟关节组件3001’～3005’。其中，图12和图13分别示意了在进行本申请所描述的控制方法之前的第一部分3及图像模型3’的形态的示意图，两者在初始状态时形态一致。进一步地，举例将图像模型3’中的虚拟关节组件3003’配置成了控制节点，为了进行增量关节运动量的配置，可以在关联于该控制节点3003’的位置生成表示其运动副的第一图标61，及表示运动副的可调方向的第二图标62，第二图标62可以包括代表第一可调方向的子图标621和第二可调方向的子图标622。
其中，例如用“●”代表点击位置。操作人员通过点击操作指令控制图像模型3’从图13所示的形态调整至图14所示的形态。例如可经操作人员确认后，第一部分3从图12所示的形态调整至图15所示的形态，最终使得第一部分3的形态与图像模型3’的形态基本保持一致。
进一步地，可以对使能状态的虚拟关节组件均生成并显示上述的第一图标及第二图标。其中，根据解析点击操作指令获得的点击位置可以一并确定被选定的控制节点及其对应的运动方向。
一实施例中，目标关节运动量可以这样进行配置：
例如，至少获取各使能状态的虚拟关节组件中被配置为控制节点的虚拟关节组件的运动范围，操作人员借助于运动输入设备可以基于该运动范围来配置目标关节运动量，以使控制节点直接运动配置的目标关节运动量。例如，控制节点的运动范围为-270°～270°，可以直接输入期望控制节点转动达到的角度如200°即可，此处不再详细描述。
一实施例中，基于上述的第二方面考虑，步骤S1121中的操作指令集是用于配置图像模型在任务空间内的任务的操作指令集。
例如，系统默认图像模型中的各虚拟关节组件均为使能状态，该操作指令集可以包括模式配置指令及移动指令，该模式配置指令用于配置图像模型远端的任务自由度，更具体的即用于配置图像模型中最远端的虚拟关节组件 的任务自由度，该移动指令用于选定某个使能状态的虚拟关节组件以作为控制节点并为该控制节点配置任务空间内的任务运动量。进一步地，该操作指令集还可以包括禁用指令，用于配置一个或多个使能状态的虚拟关节组件为禁用状态，这样相当于可以改变图像模型的构型以适于更多使用场景。
进而，如图16所示，上述步骤S1122中根据操作指令集改变图像模型的形态的步骤可以这样进行，即：
步骤S11221’，解析操作指令集获得使能状态的虚拟关节组件、最远端的虚拟关节组件的任务自由度、控制节点及其任务运动量。
步骤S11222’，根据任务自由度、控制节点的任务运动量控制使能状态的虚拟关节组件联动使得控制节点运动对应的任务运动量以改变图像模型的形态。
在该步骤S11222’之前，可以先判断各控制节点的任务运动量是否有效。
其中，有多种策略可供操作人员选择使用。例如，需要在各控制节点的任务运动量均有效时，在上述步骤S11222’中控制各控制节点根据任务运动量运动。例如，部分控制节点的任务运动量有效时，在上述步骤S11222’中控制该部分控制节点根据任务运动量运动即可。又例如，各控制节点的任务运动量具有一个无效时，不执行在上述步骤S11222’，并可提示操作人员重新配置合理的关节运动量。对于该任务运动量的有效性的判断举例可以通过利用逆运动学将控制节点的任务运动量换算为该控制节点所关联的一段虚拟臂体中各虚拟关节组件的运动状态参数进而与相应阈值进行比较而进行判断，运动状态参数包括运动范围、关节运动速度及/或关节运动加速度。当然，也可以通过其它方法对该任务运动量的有效性进行判断，例如，判断控制节点所关联的一段虚拟臂体是否会与其它虚拟臂体发生碰撞，发生碰撞时，判断相应控制节点的任务运动量为无效，不发生碰撞时，判断相应控制节点的任务运动量为有效，通常，其它虚拟臂体指与控制节点所在的一段虚拟臂体呈并联结构而非串联结构的其它段虚拟臂体，例如不同操作臂对应的不同虚拟臂体。对于虚拟臂体是否发生碰撞可以采用位置检测法来进行判断，此处不再详细 描述。事实上，对于任务运动量的有效性的不同判断方法可以单独或者结合使用。
该任务空间举例是笛卡尔空间。该任务运动量可以是增量位姿或目标位姿。该增量位姿包括增量位置及/或增量姿态，该目标位姿包括目标位置及/或目标姿态。
一实施例中，增量任务运动量可以这样进行配置：
如图17所示，至少可以在控制节点处生成并显示一坐标图像63，该坐标图像63包括X坐标轴、Y坐标轴及Z坐标轴，至少可以基于该三个坐标轴对控制节点的位置进行增量式配置。示例性的，操作指令集中的移动指令可以来源于操作人员借助输入装置输入的点击操作指令，该点击操作指令包括点击位置和点击次数。
例如，操作人员点击某一坐标轴就可以根据触发的点击操作指令中的点击位置确定控制节点的运动方向、并根据点击次数就可以确定该控制节点沿着该坐标轴的相应运动方向上的增量任务运动量。其中，每次点击均对应一个固定的增量任务运动量，这个增量任务运动量是一个固定步长的偏移量(即增量位置参数)，如1mm～10mm之间的任意值，如1mm、2mm、3mm、4mm、5mm、6mm、7mm、8mm、9mm或10mm，当然，该固定步长的偏移量还可以由操作人员定义为1mm～10mm以外的值。
为了便于对控制节点的姿态进行控制，如图18所示，还可以进一步地在该坐标图像63的相应坐标轴中生成关联于该坐标轴的可调方向的图标64。操作人员点击该图标64即可根据触发的点击操作指令中的点击位置确定该控制节点围绕相应坐标轴转动的运动方向、并根据点击次数就可以确定该控制节点在该运动方向上转动的增量任务运动量。其中，每次点击均对应一个固定的增量任务运动量，其中，这个增量任务运动量是一个固定步长的转动量(即增量姿态参数)，如0.1°～1°之间的任意值，如0.1°、0.2°、0.3°、0.4°、0.5°、0.6°、0.7°、0.8°、0.9°或1°，当然，该固定步长的转动量还可以有操作人员定义为0.1°～1°以外的值。
一些实施例中，点击操作指令中的点击次数可替代为点击时长，其中，单位时间t 0对应的增量任务运动量为s 0，则点击时长t对应的增量任务运动量s＝(t/t 0)*s 0。此外，点击操作指令还可兼容包括点击时长，可以将点击次数对应的增量任务运动量与点击时长对应的增量任务运动量之和作为最终的增量任务运动量。
进而，如图19所示，上述步骤S11221’中，即解析操作指令集获得控制节点的任务运动量的步骤可以包括：
步骤S112211’，解析点击操作指令获得点击位置、及点击次数及/或点击时长。
其中，有效的点击位置例如是对坐标轴的点击及/或对于坐标轴处用于调节方向的图标的点击。
步骤S112212’，根据点击位置确定控制节点的运动方向，并根据点击次数及/或点击时长确定控制节点在相应方向上的增量任务运动量。
进一步地，可以对使能状态的虚拟关节组件均生成并显示上述的图标。其中，根据解析点击操作指令获得的点击位置可以一并确定被选定的控制节点及其对应的运动方向。
一实施例中，目标任务运动量可以这样进行配置：
由于图像模型与驱动臂的第一部分是关联的，因而图像模型的参考坐标系可以与驱动臂的第一部分的参考坐标系相同，即两者可以事实上基于相同参考坐标系进行控制而实现形态的改变，进而可以基于第一部分的运动学模型及第一部分所包含的各真实关节组件的关节变量并利用正运动学求解出控制节点的位姿。其中，可以将该位姿对应的参数数值化地显示于控制节点处。操作人员因而可以参考该数值化显示的位姿并利用输入装置来设置所期望的目标任务运动量。例如，控制节点的当前位姿是P 0[x 0,y 0,z 0,α 0,β 0,γ 0]，其中，x表示水平方向的坐标，y表示竖直方向的坐标，z表示前后方向的坐标，α表示偏航角，β表示俯仰角，γ表示自转角。操作人员可以基于P 0尝试设置一个合适的目标任务运动量P m，例如，P m为[x 0+x m,y 0,z 0,α 0,β 0,γ 0]，这里表示操作人员只为X方向设置了目标位置。
一些实施例中，可以设置多个模式指令以便于快捷的配置任务自由度，这些模式指令包括但不限于第一模式指令、第二模式指令、第三模式指令及第四模式指令中的一种或多种，具体视需要而定。其中，该第一模式指令用于配置任务自由度为零任务自由度，即不进行任何约束；该第二模式指令用于配置任务自由度为位姿自由度，该位姿自由度包括一个以上位置自由度和一个以上姿态自由度；该第三模式指令用于配置任务自由度为位置自由度，该位置自由度包括一个以上；该第四模式指令用于配置任务自由度为姿态自由度，该姿态自由度包括一个以上。例如，该第二模式指令对应的位姿自由度为全位姿自由度，即对应于第一部分所能实现的所有跟位置及姿态相关的自由度；该第三模式指令对应的位置自由度为全位置自由度，即对应于第一部分所能实现的所有跟位置相关的自由度；该第四模式指令对应的姿态自由度为全姿态自由度，即对应于第一部分所能实现的所有跟姿态相关的自由度。
在第一模式指令中，即不对任务自由度进行约束，图像模型远端的虚拟关节组件为从动状态，控制节点与远端的虚拟关节组件的全部关节组件被配置成禁用状态以当作刚体结构而跟随控制节点运动。
在第二模式指令至第四模式指令中，即对任务自由度进行约束，以使图像模型远端的虚拟关节组件为主动状态，第一方面的目的是使近端的虚拟关节组件与控制节点之间的全部关节组件根据任务运动量运动，第二方面的目的是同时使控制节点与远端的虚拟关节组件的全部关节组件运动以保持在相应任务自由度。也即，在第二模式指令至第四模式指令中，可以根据控制节点的数量将图像模型分成两段以上的虚拟臂体进行独立控制以实现该多个臂体各自的目标。
例如，控制节点仅一个时，图像模型中近端的虚拟关节组件到控制节点(包含该控制节点)之间的全部虚拟臂体为第一段虚拟臂体，控制节点(不包含该控制节点)到远端之间的虚拟关节组件的全部虚拟臂体为第二段虚拟臂体。
又例如，控制节点为两个以上时，图像模型中近端的虚拟关节组件到邻近的控制节点(包含该控制节点)之间的全部虚拟臂体为第一段虚拟臂体，各相邻控制节点之间的全部虚拟臂体分别为第二段虚拟臂体(第二段虚拟臂体的数量与控制节点的数量相同)，远端的控制节点到远端的虚拟关节组件之间的全部虚拟臂体为第三段虚拟臂体。
当控制节点被配置为两个以上时，需要为每个控制节点分别配置任务运动量。如果没有为每个控制节点分别配置任务运动量，可以提示对没有被配置任务运动量的进行配置，或者，也可以忽略没有被配置任务运动量的控制节点而只对配置了任务运动量的控制节点进行控制。
上述对于图像模型中虚拟臂体的分段及分段后的控制通常是基于控制节点不包含远端的虚拟关节组件而进行的。当然，如果控制节点包含远端的虚拟关节组件，不考虑最后一段虚拟臂体即可，例如，控制节点仅一个且为远端的虚拟关节组件，那么图像模型的虚拟臂体为整体的一段，也即近端的虚拟关节组件到远端的虚拟关节组件不进行任何分段而作为整体的一段。
以第二模式指令对应于全位姿自由度、第三模式指令对应于全位置自由度及第四模式指令对应于全姿态自由度为例进行如下说明。
其中，以控制节点为一个为例简要说明如下。
控制节点是图像模型中远端的虚拟关节组件时：
其中，控制节点近端的全部虚拟关节组件(包含控制节点所在的虚拟关节组件)为第一段虚拟臂体，第一段虚拟臂体以其近端的虚拟关节组件为坐标原点进行运动以达成相应控制节点的运动量，更具体地，例如可以根据逆运动学控制该段虚拟臂体中处于使能状态的虚拟关节组件联动。
(1)基于第一模式指令，由于远端的任务自由度没有任何约束，因而可以根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点运动达成任务运动量。
(2)基于第二模式指令，由于远端的任务自由度被约束为保持位姿，因而通常根据配置的任务运动量不能控制第一段虚拟臂体联动。
(3)基于第三模式指令，由于远端的任务自由度被约束为保持位置，因而可以根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点保持位置、而仅改变姿态。为了实现这样的运动，任务运动量应当包括姿态运动量。
(4)基于第四模式指令，由于远端的任务自由度被约束为保持姿态，因而可以根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点保持姿态、而仅改变位置。为了实现这样的运动，任务运动量应当包括位置运动量。
2.控制节点不是图像模型中远端的虚拟关节组件时：
其中，控制节点近端的全部虚拟关节组件(包含控制节点所在的虚拟关节组件)为第一段虚拟臂体，控制节点远端的全部虚拟关节组件(不包含控制节点所在的虚拟关节组件)为第二段虚拟臂体，每段虚拟臂体均以其近端的虚拟关节组件为坐标原点进行独立运动以达成相应控制节点的运动量，更具体地，例如可以根据逆运动学控制每段虚拟臂体中处于使能状态的虚拟关节组件联动。
(1)基于第一模式指令，由于远端的任务自由度没有任何约束，第二段虚拟臂体所包含的全部虚拟关节组件均为禁用状态，因而可以根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点运动达成任务运动量。
(2)基于第二模式指令，由于远端的任务自由度被约束为保持位姿，因而通常根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点运动达成任务运动量、并控制第二段虚拟臂体联动以使远端的虚拟关节组件保持位姿。
(3)基于第三模式指令，由于远端的任务自由度被约束为保持位置，因而通常根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点运动达成任务运动量、并控制第二段虚拟臂体联动以使远端的虚拟关节组件保持位置、而姿态不做约束。
(4)基于第四模式指令，由于远端的任务自由度被约束为保持姿态，因而通常根据配置的任务运动量控制第一段虚拟臂体联动以使该控制节点运动达成任务运动量、并控制第二段虚拟臂体联动以使远端的虚拟关节组件保持姿 态、而位置不做约束。
上述方式对于控制节点为两个以上的情况也是适用的。参阅上述控制节点为一个的情况，两者之间的不同仅在于增加了对相邻控制节点之间的虚拟臂体的联动，相邻控制节点之间的虚拟臂体的联动与近端的控制节点的近端的虚拟臂体的联动、远端的控制节点的远端的虚拟臂体的联动是相对独立的，以共同实现上述第一方面的目的及第二方面的目的。其中，每段被独立控制的虚拟臂体的参考坐标系是不同的，如沿着图像模型中虚拟臂体从近段向远端的方向分为第一段、第二段及第三段虚拟臂体时，第一段虚拟臂体的参考坐标系可以基于该第一段虚拟臂体中最近端的虚拟关节组件相对于基坐标系的坐标系，第二段虚拟臂体的参考坐标系可以基于该第二段虚拟臂体中最近端的虚拟关节组件相对于基坐标系的坐标系，第三段虚拟臂体的参考坐标系可以基于该第三段虚拟臂体中最近端的虚拟关节组件相对于基坐标系的坐标系。也即，第一段虚拟臂体、第二段虚拟臂体、及第三段虚拟臂体均以其近端的虚拟关节组件为原点进行运动。一种较为方便实施的实施例中，每个控制节点对应的任务运动量仅影响其所在的一段虚拟臂体的运动而不影响其它段虚拟臂体的运动。
上述能够被配置如配置成使能状态、禁用状态、控制节点的虚拟关节组件通常对应于真实关节组件中的主动关节组件(即独立可调的关节组件)。也即，虚拟关节组件中对应于真实关节组件中的从动关节组件(即与主动关节组件耦合、跟随该主动关节组件运动的关节组件)通常不能被进行如上配置，例如类似于四连杆结构等的封闭运动链的多个真实关节组件中通常仅有部分，例如一个是主动关节组件。
此外，在配置驱动臂的第一部分时，真实关节组件的主动关节组件及从动关节组件，均可以被配置成第一部分。
手术机器人在操作过程中，容易发生碰撞的部位通常是呈并联结构的两个以上的真实臂体。因而，一些实施例中，可以在检测到驱动臂中存在碰撞或潜在碰撞的真实臂体时，一方面，将存在碰撞或潜在碰撞的真实臂体作为 第一部分，进而获取及显示与该第一部分的结构特征及形态一致的图像模型；另一方面，允许操作人员从第二切换指令对应的操作模式切换至第一切换指令对应的操作模式，当然，是否需要对操作模式进行切换需要操作人员的确认才能进行。
一些实施例中，在第一切换指令对应的操作模式下，也即通过对图像模型形态的改变使得驱动臂的形态发生相同的改变可以在一些特定的约束下进行。这样的约束包括但不限于图像模型中运动状态可以被改变的虚拟关节组件应当是处于图像操作末端器械提供的操作图像即视野范围内的虚拟关节组件，如图19所示，图像模型3’位于可视区域内的虚拟关节组件才能够被配置用以改变形态。为便于如上述所述的对在视野范围内的这些虚拟关节组件进行如控制节点及对应的运动量的配置，可以将图像模型中位于视野范围外的虚拟关节组件默认为禁用状态。为更进一步区别图像模型中各虚拟关节组件是否位于视野范围内，可以对视野范围内或视野范围外的虚拟关节组件进行标识以显著地提示操作人员后续将要进行的对图像模型的操作。更多情况下，可以不对图像模型中可改变形态的部分进行约束，例如，即时图像模型中部分或者全部均不存在于视野范围内的情况。
一些实施例中，可以生成具有用于切换图像模型显示角度的角度切换控件的用户界面，进而可根据触发该角度切换控件产生的角度切换指令切换图像模型的显示角度，可方便操作人员选择性地从不同角度来查看该图像模型的状态。
一些实施例中，在对应于第一切换指令的操作模式下，可以对图像模型的至少部分如近端或全部的虚拟关节组件进行放大显示以方便配置如控制节点及其对应的运动量及便于观察图像模型的形态的变化。进一步地，在切换至对应于第二切换指令的操作模式下，可以将放大的图像模型恢复至正常大小进行显示。
一实施例中，由于获取的用于控制驱动臂中第一部分运动的各真实关节组件的关节变量可能不连续，以及第一部分的各真实关节组件惯量较大的影 响，直接用这些关节变量来对该第一部分进行控制容易引起抖动即运动不连续的问题，因而为了使得该第一部分运动连续，如图21所示，可以在上述步骤S12，即控制第一部分中相应真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化的步骤之前，进行如下步骤：
步骤S121，获取导致图像模型的形态发生变化的虚拟关节组件对应的关节变量。
步骤S122，对虚拟关节组件对应的关节变量分别进行运动平滑处理获得经运动平滑处理后的关节变量。
进而，在控制第一部分中相应真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化的步骤具体即可以根据虚拟关节组件对应的经运动平滑处理后的关节变量控制第一部分中相应于虚拟关节组件的真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化，同时使得第一部分的运动连续。
上述步骤S122可以通过滤波处理及/或轨迹插补处理以实现分别对获取的对第一部分中各真实关节组件的关节变量的运动平滑处理。例如，滤波处理可以采用低通滤波处理，其允许低频信号正常通过而阻隔或减弱超过设定临界值的高频信号。例如，轨迹插补处理可以基于第一部分中各真实关节组件的关节变量进行样条曲线拟合及插补，以规划出平滑的样条曲线。两者可独立实施或者结合实施以使第一部分的运动连续，其中，运动连续包括运动位置连续、运动速度连续以及运动加速度连续中的一种及以上。
一实施例中，该步骤S122中所进行的运动平滑处理可以在图像模型的形态发生改变之前进行，也即对输入的改变图像模型的形态的关节变量进行运动平滑处理，可利用经运动平滑处理后的关节变量一方面对图像模型的形态进行改变，另一方面对驱动臂中第一部分的形态进行改变，这样可以使得图像模型的运动和第一部分的运动均是连续的。
另一实施例中，该步骤S122所进行的运动平滑处理可以在图像模型的形态发生改变之后进行，也即仅可利用经运动平滑处理后的关节变量对驱动臂 中第一部分的形态进行改变，这样图像模型的运动可以是不连续的，但至少能够保证第一部分的运动是连续的。
上述实施例中，图像模型3’还可以是相对于计算机图像模型更简洁的投影图像模型，如图23。其中，如图22所示，投影图像模型的获得方法包括如下步骤：
步骤S21，获得第一部分的特征点序列及第一部分对应的运动学模型。
步骤S22，获取传感器感应的第一部分中各关节的关节变量。
步骤S23，获取输入部选择的虚拟相机。
其中，虚拟相机为非实际存在的相机，其不会真实的采集物体的图像，其体现的仅是一种视点的概念。虚拟相机可以具有可配置的虚拟视场角和虚拟景深。
步骤S24，根据第一部分的运动学模型及关节变量确定第一部分的特征点序列中各特征点在虚拟相机的投影平面的投影点。
结合图24参阅，以第一部分为单孔手术机器人中的某一操作臂为例进行投影原理的说明。其中，
该操作臂具有特征点序列，该特征点序列包括特征点Q1、Q2、Q3及Q4，在虚拟相机的虚拟成像下，在投影平面获得投影点序列，该投影点序列对应为q1、q2、q3及q4。
示例性的，以特征点Q1和Q2为例进行说明，根据运动学模型及关节变量获得了Q1和Q2在空间中的位置分别为Q1(X1,Y1,Z1)和Q2(X2,Y2,Z2)。结合虚拟焦距确定该特征点Q1和特征点Q2在投影平面的投影点q1(x1,y1)和q2(x2,y2)可以通过如下公式获得：
x1＝fx*(X1/Z1)+cx；
y1＝fy*(Y1/Z1)+cy；
x2＝fx*(X12/Z12)+cx；
y2＝fy*(Y12/Z12)+cy；
其中，fx为水平方向焦距，fy为竖直方向焦距，cx为水平方向相对光轴 偏移，cy为竖直方向相对光轴偏移。其中，fx与fy的数值可以相等，也可以不等。
步骤S25，有序的拟合连接各投影点生成第一部分的投影图像模型。
步骤S26，显示投影图像模型。
根据上述步骤S21～S26，即可获得投影图像模型。
一实施例中，提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，计算机程序被配置为由处理器加载并执行实现如下步骤：获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化；控制第一部分中相应真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化。
一实施例中，提供一种手术机器人的控制装置。如图25所示，该控制装置可以包括：处理器(processor)501、通信接口(Communications Interface)502、存储器(memory)503、以及通信总线504。
处理器501、通信接口502、以及存储器503通过通信总线504完成相互间的通信。
通信接口502，用于与其它设备比如各类传感器或电机或电磁阀或其它客户端或服务器等的网元通信。
处理器501，用于执行程序505，具体可以执行上述方法实施例中的相关步骤。
具体地，程序505可以包括程序代码，该程序代码包括计算机操作指令。
处理器505可能是中央处理器CPU，或者是特定集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本申请实施例的一个或多个集成电路，或者是图形处理器GPU(Graphics Processing Unit)。控制装置包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU，或者，一个或多个GPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个GPU。
存储器503，用于存放程序505。存储器503可能包含高速RAM存储器， 也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
程序505具体可以用于使得处理器501执行以下操作：获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化；控制第一部分中相应真实关节组件运动以使第一部分的形态跟随图像模型的形态的变化而变化。
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. 一种手术机器人的控制方法，所述手术机器人包括驱动臂，所述驱动臂远端用于装卸末端器械，其特征在于，所述控制方法包括如下步骤：
    获取结构特征及形态与所述驱动臂中第一部分一致的图像模型并显示所述图像模型的至少部分；
    接收输入的用于改变所述图像模型的形态的操作指令集；
    根据所述操作指令集改变所述图像模型的形态，并至少显示所述图像模型的最终形态；
    获取所述图像模型的形态的变化；
    控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化；
    其中，所述操作指令集关联于所述图像模型在任务空间内的任务，根据所述操作指令集改变所述图像模型的形态的步骤中，包括：
    解析所述操作指令集获得所述图像模型中的控制节点、所述控制节点的任务运动量、最远端的虚拟关节组件的任务自由度及处于使能状态的所述虚拟关节组件；
    根据最远端的所述虚拟关节组件的所述任务自由度、所述控制节点的任务运动量控制处于使能状态的所述虚拟关节组件联动使得所述控制节点运动对应的所述任务运动量以改变所述图像模型的形态。
  2. 根据权利要求1所述的控制方法，其特征在于，所述驱动臂具有多个真实关节组件，所述图像模型至少具有与所述第一部分所包含的真实关节组件相对应的虚拟关节组件，所述虚拟关节组件具有与相应所述真实关节组件一致的关节运动参数，以使所述图像模型的形态的可调性能够与所述第一部分的形态的可调性能一致，其中，所述关节运动参数包括关节运动范围、关节运动速度阈值及关节运动加速度阈值。
  3. 根据权利要求1所述的控制方法，其特征在于，在控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态 的变化而变化的步骤中，所述第一部分的形态的变化完全复刻所述图像模型的形态的变化，包括所述第一部分的形态的变化与所述图像模型的形态的变化具有完全相同的运动状态，所述完全相同的运动状态包括相同的运动轨迹和相同的运动速度。
  4. 根据权利要求1所述的控制方法，其特征在于，在控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，所述第一部分的形态的变化部分复刻所述图像模型的形态的变化，包括所述第一部分的形态的变化与所述图像模型的形态的变化具有不完全相同的运动状态、但至少最终形态相同，所述不完全相同的运动状态包括运动轨迹不同或运动速度不同。。
  5. 根据权利要求1所述的控制方法，其特征在于，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤中，包括：
    在检测到设置的调整模式是间歇调整模式时，检测是否获取到确认指令；在获取到确认指令时，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化；或者，
    在检测到设置的调整模式是连续调整模式时，控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化，其中，所述第一部分的形态基本同步于所述图像模型的形态的变化而变化，或者，所述第一部分的形态滞后于所述图像模型的形态的变化而变化，或者，所述第一部分的形态的改变速度低于所述图像模型的形态的改变速度。
  6. 根据权利要求1所述的控制方法，其特征在于，所述操作指令集关联于所述图像模型在关节空间内的任务，根据所述操作指令集改变所述图像模型的形态的步骤中，包括：
    解析所述操作指令集获得所述图像模型中的控制节点及其对应的具有方向性的关节运动量；
    根据所述控制节点及其对应的所述关节运动量使得相应所述控制节点运动对应的所述关节运动量以改变所述图像模型的形态。
  7. 根据权利要求1所述的控制方法，其特征在于，所述任务运动量是增量任务运动量，所述增量任务量包括增量位置和增量姿态，所述操作指令集包括点击操作指令，解析所述操作指令集获得控制节点对应的任务运动量的步骤中，包括：
    解析所述点击操作指令获得点击位置、及点击次数及/或点击时长；
    根据所述点击位置确定所述控制节点的运动方向，并根据所述点击次数及/或所述点击时长确定所述控制节点在相应方向上的所述增量任务运动量。
  8. 根据权利要求7所述的控制方法，其特征在于，所述控制方法包括：
    至少生成关联于所述控制节点的且包括X坐标轴、Y坐标轴及Z坐标轴的坐标图像，其中，所述点击位置落入相应所述坐标轴表示选择所述控制节点的运动方向，所述点击次数及/或所述点击时长表示设置所述控制节点在相应运动方向的所述增量位置。
  9. 根据权利要求8所述的控制方法，其特征在于，至少生成关联于所述控制节点的且包括X坐标轴、Y坐标轴及Z坐标轴的坐标图像的步骤中，还包括：
    在所述坐标图像中生成关联于各所述坐标轴的可调方向的图标，其中，所述点击位置落入相应所述坐标轴表示选择所述控制节点的转动方向，所述点击次数及/或所述点击时长表示设置所述控制节点在相应运动方向的所述增量姿态。
  10. 根据权利要求1所述的控制方法，其特征在于，所述任务运动量是目标任务运动量。
  11. 根据权利要求1所述的控制方法，其特征在于，所述操作指令集包括模式配置指令，所述模式配置指令包括第一模式指令、第二模式指令、第三模式指令及第四模式指令中的一种以上，所述第一模式指令用于配置任务自由度为零任务自由度，所述第二模式指令用于配置任务自由度为位姿自由 度，所述第三模式指令用于配置任务自由度为位置自由度，所述第四模式指令用于配置任务自由度为姿态自由度。
  12. 根据权利要求1所述的控制方法，其特征在于，所述控制节点为一个且所述控制节点是最远端的所述虚拟关节组件时，将所述图像模型中全部所述虚拟关节组件作为第一段虚拟臂体，进而根据所述任务自由度、所述控制节点的所述任务运动量控制所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动使得所述控制节点运动对应的所述任务运动量以改变所述图像模型的形态。
  13. 根据权利要求1所述的控制方法，其特征在于，所述控制节点为一个且所述控制节点并非最远端的所述虚拟关节组件时，将所述控制节点近端的全部所述虚拟关节组件作为第一段虚拟臂体，将所述控制节点远端的全部所述虚拟关节组件作为第二段虚拟臂体，所述控制节点属于近端的一段虚拟臂体，进而根据所述任务自由度、所述控制节点的所述任务运动量控制所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动使所述控制节点运动所述任务运动量、同时控制所述第二段虚拟臂体中处于使能状态的所述虚拟关节组件独立于所述第一段虚拟臂体中处于使能状态的所述虚拟关节组件联动实现所述任务自由度。
  14. 根据权利要求1所述的控制方法，其特征在于，所述控制节点为两个以上且其中一个是最远端的所述虚拟关节组件时，将全部所述虚拟关节组件划分成与所述控制节点数量相同的多段虚拟臂体，各所述控制节点仅属于相应所述控制节点近端侧的一段所述虚拟臂体，进而控制最远的一段所述虚拟臂体中处于使能状态的所述虚拟关节组件联动实现所述任务自由度约束下最远端的所述控制节点的所述任务运动量、同时控制其它段所述虚拟臂体中处于使能状态的所述虚拟关节组件分别联动使相应所述控制节点运动对应的任务运动量，其中，不同所述虚拟臂体的运动相对独立。
  15. 根据权利要求1所述的控制方法，其特征在于，所述控制节点为两个以上且均不是最远端的所述虚拟关节组件时，将全部所述虚拟关节组件划 分成比所述控制节点数量多一个的多段虚拟臂体，各所述控制节点仅属于其相应所述控制节点近端侧的一段所述虚拟臂体，进而控制最远的一段所述虚拟臂体中处于使能状态的所述虚拟关节组件联动实现最远端的所述控制节点的所述任务自由度、同时控制其它段所述虚拟臂体中处于使能状态的所述虚拟关节组件分别运动使相应所述控制节点运动对应的任务运动量，其中，不同所述虚拟臂体的运动相对独立。
  16. 根据权利要求1所述的控制方法，其特征在于，所述图像模型可被改变形态的部分对应于所述驱动臂中第一部分存在于所述手术机器人中图像末端器械的视野范围内的部分。
  17. 根据权利要求1所述的控制方法，其特征在于，
    控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤之前，包括：
    获取导致所述图像模型的形态发生变化的虚拟关节组件对应的关节变量；
    对所述虚拟关节组件对应的所述关节变量分别进行运动平滑处理获得经运动平滑处理后的关节变量；
    控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化的步骤包括：根据所述虚拟关节组件对应的经运动平滑处理后的所述关节变量控制所述第一部分中相应于所述虚拟关节组件的所述真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化，同时使得所述第一部分的运动连续.所述运动连续包括运动位置连续、运动速度连续以及运动加速度连续中的一种及以上。
  18. 一种手术机器人的控制方法，所述手术机器人包括驱动臂，所述驱动臂远端用于装卸末端器械，其特征在于，所述控制方法包括如下步骤：
    获取结构特征及形态与所述驱动臂中第一部分一致的图像模型的形态的变化；
    控制所述第一部分中相应真实关节组件运动以使所述第一部分的形态跟随所述图像模型的形态的变化而变化。
  19. 一种计算机可读存储介质，其特征在于，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处理器加载并执行实现如权利要求1～18任一项所述的控制方法的步骤。
  20. 一种手术机器人，其特征在于，包括：
    驱动臂；
    显示器，用于显示图像模型；
    输入装置，用于操纵所述图像模型的形态发生变化；
    以及控制器，所述控制器与所述驱动臂、所述显示器及所述运动输入设备耦接，并被配置成执行如权利要求1～18任一项所述的控制方法的步骤。
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