WO2024001725A1

WO2024001725A1 - Surgical system, control method, and readable storage medium

Info

Publication number: WO2024001725A1
Application number: PCT/CN2023/099414
Authority: WO
Inventors: 闫昱晟; 邓国威; 高元倩
Original assignee: 深圳市精锋医疗科技股份有限公司
Priority date: 2022-07-01
Filing date: 2023-06-09
Publication date: 2024-01-04

Abstract

The present disclosure relates to a surgical system, a control method, and a readable storage medium. The surgical system comprises a surgical bed; a surgical robot, the surgical robot comprising a driving arm having a plurality of joints, a puncture device being arranged at a distal end of the driving arm, and the puncture device being configured to be inserted into a body opening of a living body located on a tabletop of the surgical bed; and a controller, coupled with the surgical bed and the surgical robot and configured to: acquire posture registration information between the surgical robot and the surgical bed; in response to the movement of the tabletop of the surgical bed in the posture degree of freedom, acquire movement information about the tabletop of the surgical bed in the posture degree of freedom; on the basis of the movement information and the posture registration information, determine a target joint amount of a first joint in the plurality of joints, and control the movement of the first joint according to the target joint amount so as to maintain the posture of the puncture device relative to the tabletop of the surgical bed in the posture degree of freedom. On the basis of the posture registration information between the surgical robot and the surgical bed in the present disclosure, when the tabletop of the surgical bed moves in the posture degree of freedom, the surgical system can actively control the driving arm to adjust the posture of the puncture device so as to improve the operation efficiency and safety.

Description

A surgical system, control method, and readable storage medium

This disclosure requires a Chinese patent application submitted to the China Patent Office on July 1, 2022, with the application number 202210769931.2 and the invention title "A surgical robot and its control method, device, and surgical system" on July 1, 2022. The Chinese patent application was submitted to the China Patent Office on July 1, 2022, with the application number 202210769952.4, and the invention title is "A surgical robot and its posture registration method and control method". It was submitted to the China Patent Office on July 1, 2022, with the application number 202210768400.1. , the Chinese patent application titled "A surgical robot and its registration method with the operating bed, and a surgical system" was submitted to the China Patent Office on July 1, 2022. The application number is 202210777567.4, and the invention is titled "A surgical robot and its registration method with an operating bed, and a surgical system". The Chinese patent application for "Control Method, System, Device and Readable Storage Medium of a Surgical Robot System" was submitted to the China Patent Office on March 3, 2023. The application number is 202310249983.1, and the invention name is "Surgical System and its Registration "Methods, Devices, Surgical Equipment and Storage Media", the entire content of which is incorporated by reference into the application.

Technical field

The present disclosure relates to the field of medical machinery technology, and in particular, to a surgical system, a control method, and a readable storage medium.

Background technique

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. With the advancement of science and technology, minimally invasive surgical robotic technology has gradually matured and been widely used. Minimally invasive surgical robots usually include a main operating console and slave operating equipment. The main operating console includes a handle. The doctor sends control commands to the slave operating equipment through the operating handle. The slave operating equipment includes a driving arm and a puncture device installed at the distal end of the driving arm. The puncture device is used for insertion into an opening in the body of a patient lying on a tabletop of an operating table to provide a passage for medical instruments to pass through.

In the process of using surgical robots to assist surgery, doctors often expect that the operating bed can move a certain distance or rotate a certain angle to adjust the patient's position during the operation in order to improve or optimize the patient's field of view and operating space at the surgical site during the operation. However, the movement of the operating table will cause the movement of the patient's body opening, and usually the surgical robot cannot actively control the movement of the puncture device to follow the body opening based on the movement information of the operating table, resulting in cumbersome operation of the surgical robot during the process of adjusting the operating table. , time-consuming, and may even cause harm to the patient, increasing the risk of uncertainty during the operation.

Technical solutions

Based on this, it is necessary to provide a surgical system, a control method, and a readable storage medium to address the above technical problems, which can perform attitude degree of freedom control on the table of the operating table based on the posture registration information between the surgical robot and the operating table. During movement, the driving arm is actively controlled to adjust the posture of the puncture device to improve operating efficiency and safety.

A surgical system, including:

operating table;

Surgical robot, the surgical robot includes a driving arm with a plurality of joints, the distal end of the driving arm is equipped with a puncture device, the puncture device is used to insert into the body opening of the organism located on the table top of the operating bed ;

A controller, coupled to the surgical table and the surgical robot, is configured for:

Obtain posture registration information between the surgical robot and the operating table;

In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;

A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude. The posture of the puncture device relative to the tabletop of the operating table.

In one embodiment, when determining the posture registration information between the surgical robot and the operating table, the control The controller is configured for:

Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom, to allow the drive arm to be driven by the first joint based on the motion of the patient. The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;

In response to the translational movement of the operating table table in the translational degree of freedom,

In the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, a first position of the puncture device at a first moment is acquired, and a position of the puncture device adjacent to the second position at the second moment of the first moment;

Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.

In one embodiment, the controller is further configured to:

Obtaining a third position of the puncture device at a third time adjacent to the second time while the first joint passively performs tracking the movement of the body opening in the translational degree of freedom;

determining second attitude registration information between the surgical robot and the operating table based on the second position and the third position;

When the first posture registration information and the second posture registration information satisfy a preset condition, the determination is based on one or more of the first posture registration information and the second posture registration information. Third posture registration information between the surgical robot and the operating bed.

In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are are parallel or coincident with each other; the first posture registration information is represented by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed, and the first posture registration information The second posture registration information is characterized by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed;

When determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information, the controller further Configured for:

Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;

If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value is used as the third posture registration information. The average value of the first rotation angle value and the second rotation angle value is used as the third posture registration information.

In one embodiment, one of the surgical robot and the operating bed is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, The first horizontal coordinate axis of the reference coordinate system of the operating table, the horizontal plane where the second horizontal coordinate axis is located, and the horizontal plane where the detection direction of the ranging device is located are parallel to or coincident with each other;

When determining posture registration information between the surgical robot and the operating table, the controller is configured to:

Obtain detection data of the ranging device, the detection data including the first vertical distance and the second vertical distance between the surgical robot and the operating table;

According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.

In one embodiment, when the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance detected by the distance measuring sensor, and the second vertical distance is the vertical distance measured by the distance measuring sensor from The distance measured in the horizontal direction of the installation position; or,

When the distance measuring device includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor and the second distance measuring sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the first distance measuring sensor. The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance from the first distance sensor perpendicular to the installation position. The distance detected in the horizontal direction, the second The vertical distance is the distance detected by the second distance sensor from a horizontal direction perpendicular to the installation position.

In one embodiment, the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the distance measuring device, and the detection data further includes the distance measurement device and the positioning mark. The distance between markers, the detection angle of the distance measuring device, the controller is also configured to:

Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.

In one embodiment, the distance between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark. position registration information, the controller is configured to:

Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

According to the distance between the distance measuring device and the positioning mark, the detection angle at which the distance measuring device detects the positioning mark, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine The position coordinates of the positioning mark in the reference coordinate system of the equipment on which the distance measuring device is installed;

According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment installed on the ranging device, the The position coordinates of the positioning mark in the reference coordinate system of the device determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed.

In one embodiment, one of the surgical robot and the operating bed includes a first connection part, and the other one of the surgical robot and the operating bed includes a second connection part; the registration arm includes a A first end connected to the first connecting part, a second end connected to the second connecting part, and a plurality of joint components connected between the first end and the second end ;

The controller is coupled to the registration arm, and when determining posture registration information between the surgical robot and the operating table, the controller is configured to:

determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the posture registration information between the surgical robot and the operating bed.

In one embodiment, the controller is further configured to:

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the position registration information between the surgical robot and the operating table.

In one embodiment, when the first end is connected to the first connecting part, the coordinate system of the first end and the first coordinate system of the first connecting part have a preset relative attitude and relative position. , the second registration relationship includes the posture information and position information of the first coordinate system in the reference coordinate system of one of the surgical robot and the operating bed;

When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have a preset relative posture and relative position, and the third registration The relationship includes attitude information and position information of the second coordinate system in the other reference coordinate system of the surgical robot and the operating bed.

In one embodiment, the registration arm is configured to connect a reference coordinate system of one of the surgical robot and the operating table and a reference coordinate system of the other of the surgical robot and the operating table. There are three degrees of freedom of movement for orientation in the direction of the vertical coordinate axis and positioning in the direction of the horizontal coordinate axis in Cartesian space, or the registration arm has six types of movement for positioning and orientation in Cartesian space. degrees of freedom.

In one embodiment, the joint assembly includes a sensor for sensing joint variables of the joint assembly, and the A controller is coupled to the sensor and configured to:

Obtain joint variables of the multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between self-coordinate systems of the multiple joint components;

Based on the joint variables and utilizing forward kinematics, first registration information between the first end and the second end is determined.

In one embodiment, the registration arm further includes a control unit and a drive assembly, the control unit is coupled to the controller, and the control unit is configured to control the drive according to the posture change instruction. The component drives the joint component to move.

In one embodiment, a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.

In one embodiment, the controller includes a first control unit, a second control unit and a third control unit, the third control unit is connected to the first control unit and the second control unit, and the third control unit A control unit is provided on one of the surgical robot and the operating bed, the second control unit is provided on the other of the surgical robot and the operating bed, and the third control unit is provided on the The registration arm;

Alternatively, the controller includes a first control unit and a second control unit. The first control unit is disposed on one of the surgical robot and the surgical bed. The second control unit is disposed on the surgical bed. The robot is electrically connected to the other one of the operating table, and the first control unit or the second control unit is electrically connected to the registration arm.

In one embodiment, the controller is further configured to:

In response to the movement of the tabletop of the operating table in the attitude degree of freedom, controlling a target joint associated with positional degree of freedom adjustment among the plurality of joints to allow the drive arm to move through the target joint based on the movement of the patient The force exerted by the body wall at the body opening tracks the position of the body opening.

In one embodiment, the controller is further configured to:

Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;

In response to the movement of the tabletop of the operating table, the amount of movement of the tabletop of the operating table is obtained, and based on the position registration relationship, the attitude registration relationship, the initial posture and the amount of movement, the determination of the The target pose of the puncture device in the reference coordinate system of the surgical robot;

Determine target joint variables of the joints in the drive arm based on the target pose;

The joint motion is driven according to the target joint variable to maintain the posture of the puncture device relative to the table top of the operating table.

The present disclosure also provides a method for controlling a surgical system, wherein the surgical system includes an operating bed and a surgical robot. The surgical robot includes a driving arm with multiple joints, and a puncture device is installed on the distal end of the driving arm. , the puncture device is used to insert into the body opening of the organism located on the table of the operating bed, and the control method includes:

The present disclosure also provides a computer-readable storage medium, which is characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the surgical system as described above are implemented.

The disclosed surgical system, control method and readable storage medium have the following beneficial effects:

Based on the posture registration information between the surgical robot and the operating table, the posture degree of freedom can be performed on the table of the operating table. During the movement, the driving arm is actively controlled to adjust the posture of the puncture device to improve operating efficiency and safety.

Description of drawings

FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment.

Figure 2 is a schematic structural diagram of a doctor's main console according to an embodiment.

Figure 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment.

FIG. 4 is a simplified diagram of the kinematic model relationship of the surgical system according to an embodiment.

FIG. 5 is a schematic diagram of the principle of attitude positioning according to an embodiment.

FIG. 6 is an installation diagram of a ranging module according to an embodiment.

Figure 7 is a schematic diagram of an operating table operating panel according to an embodiment.

FIG. 8 is a schematic diagram illustrating the principle of attitude registration when the operating table moves with a translational degree of freedom according to another embodiment.

FIG. 9 is one of the schematic diagrams of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.

FIG. 10 is a second schematic diagram of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.

Figure 11 is a schematic design diagram of a distance measuring device and a positioning mark according to yet another embodiment.

Figure 12 is a schematic diagram of the registration principle of the design shown in Figure 11.

Figure 13 is a schematic design diagram of another distance measuring device and positioning mark according to yet another embodiment.

Figure 14 is a schematic diagram of the registration principle of the design shown in Figure 13.

Figure 15 is a schematic design diagram of yet another distance measuring device and positioning mark according to yet another embodiment.

Figure 16 is a schematic diagram of the registration principle of the design shown in Figure 15.

Figure 17 is a schematic diagram of yet another registration principle according to yet another embodiment.

Figure 18 is a schematic structural diagram of a surgical system according to yet another embodiment.

Figure 19 is a schematic structural diagram of a registration arm according to yet another embodiment.

Figure 20 is a schematic structural diagram of another registration arm according to yet another embodiment.

FIG. 21 is a schematic diagram of the mating structure of the first connecting part and the first end of the registration arm according to yet another embodiment.

Figure 22 is a schematic structural diagram of the registration arm in a folded state according to yet another embodiment.

Figure 23 is a schematic structural diagram of a registration arm connected to different second connection parts according to yet another embodiment.

Figure 24 is a simplified diagram of a kinematic model relationship of a surgical system according to yet another embodiment.

Figure 25 is a schematic diagram showing the principle of registration between the first connection part and the second connection part according to yet another embodiment;

FIG. 26 is a schematic diagram showing the size information of the registration arm according to yet another embodiment.

Figure 27 is a schematic diagram showing the principle of registration between a surgical robot and an operating bed according to yet another embodiment.

Figure 28 is a schematic diagram of the electrical structure of a surgical robot and an operating table according to yet another embodiment.

Figure 29 is a second schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.

Figure 30 is a third schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.

Figure 31 is a fourth schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.

Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment.

Implementation Mode of this Application

In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough understanding of the disclosure of the present invention will be provided.

It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to another element or possibly a centered element at the same time. When an element is said to be "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner. The terms "distal" and "proximal" used in this article are directional terms, which are commonly used terms in the field of interventional medical devices. "Distal" refers to the end far away from the operator during the operation, and "proximal" refers to the operation. The end closest to the operator during the process.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. In the present invention, "each" includes one and two or more quantities.

FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment. As shown in FIG. 1 , the surgical system 100 includes a surgical robot and an operating bed 105 . The surgical robot includes a bedside robotic arm system 101 , a doctor's main console 103 and an imaging cart imaging system 108 . It can be understood that the composition of the surgical robot is not limited to this.

The bedside robotic arm system 101 includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert into the body opening of the patient 106 lying on the table of the operating table 105. The puncture device can Provides a channel between the surgical robot and the living body (including humans/animals). Medical instruments are inserted into the body of the living body through the connection channel. The medical instruments include imaging instruments that provide a field of view and surgical instruments that provide surgical operations.

The doctor's main console 103 and the bedside robotic arm system 101 communicate in real time through the data transmission path 120. The doctor's surgical actions on the doctor's main console 103 are transmitted to the bedside robotic arm system 101 through the master-slave mapping relationship based on the kinematic model. The medical equipment is operated. At the same time, the doctor's main console 103 can monitor the status of the bedside robotic arm system 101, such as monitoring the motion information of each joint in the bedside robotic arm system 101. When the operating table 105 performs movements with corresponding degrees of freedom, the patient 106 fixed on the table of the operating table 105 remains relatively stationary relative to the table, and the position change of the patient 106 is realized by the movement of the operating table 105 with corresponding degrees of freedom. The operating table The movement information of each moving joint of the operating table 105 is recorded and stored in real time, and the movement information of the operating table 105 is transmitted to the bedside robotic arm system 101 through the data transmission path 150 . Data transmission between the doctor's main console 103 and the operating bed 105 is performed through the data transmission path 130 . Images of the surgical site of the patient 106 are collected by imaging instruments installed on the bedside robotic arm system 101. The imaging instruments are connected to the imaging cart imaging system 108. The images collected by the imaging instruments are transmitted to the imaging cart imaging system 108 through the data transmission path 110. Furthermore, the image cart imaging system 108 feeds back the images collected by the imaging instrument to the doctor's main console 103 in real time through the data transmission path 160, providing the doctor with a surgical field of view, thereby facilitating the smooth implementation of the surgery. In actual implementation, the data transmission paths 110, 120, 130, 150, and 160 may be wired transmission or wireless transmission.

Figure 2 is a schematic structural diagram of a doctor's main console according to an embodiment. As shown in FIG. 2 , the doctor's main console 103 includes an operating part 1031 , and the operating part 1031 includes multiple sets of main joints. The operating part 1031 may also include a main hand arm 1032, and arm joints may be provided in the main hand arm 1032 to change the posture of the main hand arm 1032. The operating part 1031 may also include a main wrist, and the wrist joint may be disposed in the main wrist to control the posture of the main wrist. Optionally, the operating part 1031 may also include a pushable component. By moving the pushable component, the posture of the operating part 1031 is changed.

The operating part 1031 may also include a driving device, such as a motor, and the driving device may be provided with an encoder to achieve automatic alignment and other corresponding control functions.

The operation part 1031 may also include a display device to allow the operator to observe other devices such as the bedside robotic arm system 101 .

Figure 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment. As shown in Figure 3, the bedside robotic arm system 101 includes a moving chassis 201, a robotic arm 250 and a driving arm. The moving chassis 201 can move the bedside robotic arm system 101 as a whole in any direction on the horizontal ground. The robotic arm 250 is used to move the bedside robotic arm system 101 in any direction on the horizontal ground. One or more driving arms perform overall positioning, and the driving arms include an adjustment arm 260 and a control arm 270 .

The motion chassis 201 can adopt a wheeled mobile structure, making the relative positional relationship between the bedside robotic arm system 101 and the operating table 105 more flexible. There are no regional constraints on designated locations. On-site medical personnel can make their own decisions based on actual surgical needs. Pushing to complete the positioning operation and the locking operation after positioning can fully approach the operating bed 105 and facilitate the preoperative positioning action of each manipulating arm 270 above the patient's body. In this embodiment, the bedside robotic arm system 101 is also provided with a ranging component 202 for measuring external distance, such as a laser ranging component, an ultrasonic ranging component, a visual ranging component, etc. For example, the laser ranging component usually has ultra-high accuracy to facilitate accurate ranging. .

The robotic arm 250 includes a fixed support column 203 fixedly connected to the moving chassis 201 for supporting all moving joints, a lifting column 204 that performs the overall lifting linear motion J1 of the robotic arm 250, a big arm 205 and a small arm that perform rotational movements J2 and J3 respectively. arm 206, and the directional platform 207 that controls one or more adjustment arms 260 to perform the overall rotation movement J4. The movement of these joints can quickly reach the expected preoperative positioning area, which is beneficial to shortening the relationship between the preoperative bedside robot arm system 101 and The docking time between patients 106.

One or more adjustment arms 260 are connected to the orientation platform 207 through the rotating joint J5 individually or in parallel. In some examples, the bedside robotic arm system 101 has multiple adjustment arms 260 . Considering the multiple adjustment arms 260 The configurations are basically the same and the descriptions of the motions of each joint are basically the same. Therefore, only one adjustment arm 260 and one control arm 270 are used as an example in FIG. 2 to present the structure and describe the motion relationships of each joint below. In some examples, the adjustment arm 260 includes a small rotating platform 208, a telescopic arm 209 that performs a linear translation movement J6 in a horizontal direction parallel to the ground, a fixed vertical arm 210 fixedly connected to the telescopic arm 209, and a vertical arm 210 that is vertically connected to the telescopic arm 209. In the vertical direction of the ground, there are a moving vertical arm 211 that performs an up-and-down lifting motion J7, a turning head 212 that performs a rotational motion J8, and a cyclone joint 213 that performs a rotational motion J9.

The control arm 270 includes a deflection joint 214 that performs a rotational movement J10 with the cyclone joint 213, a parallelogram linkage base 215, a first link 216 and a second link 217 that perform a rotational movement J11, and is used to move the medical instrument 219 along the guide rail The arm 218 performs linear motion J12 in the direction. A puncture device (Trocar) 229 is installed at the distal end of the operating arm 270 . The telecentric fixed point 220 of the puncture device 229 at the same position as the body opening of the patient 106 is defined by the intersection of the axis of the cyclone joint 213 and the axis of the deflection joint 214 and the lateral center of the parallelogram linkage base 215 The intersection points of the planes also converge at the telecentric fixed point 220 of the puncture device 229. In addition, the first connecting rod 216 and the second connecting rod 217 serve as two adjacent sides and are parallel to the two virtual adjacent sides parallel to them. The quadrilateral motion mechanism is controlled by a motor and performs the folding and unfolding motion of the parallelogram around the axis of rotation J11. The motion fixed point of the parallelogram also intersects with the telecentric fixed point 220 of the puncture device 229 at one point, and the The intersection point is located on the central axis of the medical instrument 219. The end 221 of the medical instrument is inserted into the body of the patient 106, and the doctor's surgical action on the main console is performed based on the master-slave mapping relationship.

The operating table 105 includes an operating table movement mechanism 280. The operating table movement mechanism 280 includes a wheeled chassis 227 that can move on the horizontal ground, a fixed column 226, a telescopic column 225, a front and rear tilt and rotation joint 223, a left and right tilt and rotation joint 224, and an uppermost Countertop 222. The fixed column 226 is fixed on the wheeled chassis 227 through bolt connection. The telescopic column 225 and the fixed column 226 move relative to each other to perform the up and down lifting movement B2. At the same time, they serve as support mechanisms to support the table 222 of the operating bed 105 and the patient 106, front and rear. The axis B3 of the rotational motion of the tilt-rotation joint 223 intersects with the axis B4 of the rotational motion B4 of the left and right tilt-rotation joints 224 at the upper position of the telescopic column 225. The topmost part is the table 222 used to support and fix the patient 106, and the front and rear translation motion B1 of the table 222 It is executed by the telescopic transmission mechanism located inside the bed board. During the movement of the table 222 of the operating table 105, the patient 106 needs to remain motionless relative to the table 222, the telecentric fixed point 220 of the puncture device 229 needs to remain motionless relative to the patient 106, and the end 221 of the medical instrument needs to remain motionless relative to the surgical site. Stay still for the patient's safety.

The surgical system of the present disclosure includes: an operating bed, a surgical robot, and a controller. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert a needle located on the tabletop of the operating bed. Within the body opening of an organism. The controller is coupled to the surgical table and surgical robot, and is configured to:

In response to the movement of the tabletop of the operating table in the degree of freedom of posture, obtain the movement information of the tabletop of the operating table in the degree of freedom of posture;

The target joint amount of the first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom.

Through the above method, based on the posture registration information between the surgical robot and the operating table, when the tabletop of the operating table moves with a degree of freedom of posture, the driving arm can be actively controlled to adjust the posture of the puncture device, and the posture of the puncture device can be adjusted without removing the surgical machine. Adjust the operating bed when the patient is connected to the patient to improve operating efficiency and safety.

In order to actively control the drive arm to adjust the posture of the puncture device when moving on the operating table with a degree of freedom of posture, it is necessary to first obtain the posture registration information between the surgical robot and the operating table. The posture registration information refers to the location of the surgical robot. The conversion relationship between the reference coordinate system and the reference coordinate system where the operating table is located. In this embodiment, by establishing a coordinate system conversion relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the posture registration information between the surgical robot and the operating table is obtained.

The reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot, and the reference coordinate system of the operating table is the reference coordinate system of the operating table. In some embodiments, the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot. In some embodiments, the reference coordinate system of the operating table includes the base coordinate system of the operating table. Please combine Figure 3 and Figure 4. The reference coordinate system 301 of the surgical robot can usually be established on the motion chassis 201 of the bedside robotic arm system 101. It includes two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column 203. However, in actual implementation, the reference coordinate system 301 of the surgical robot does not need to be established on the moving chassis 201, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis 201. According to the kinematic coordinate system construction rules, the robot arm end coordinate system 302, the adjustment arm end coordinate system 303 and the medical device end coordinate system 304 can be established respectively. The medical device end coordinate system 304 is also called the manipulator end coordinate system. By determining The transformation matrix relationships 310, 320 and 330 between the coordinate systems can know the movement of the medical instrument installed at the end of the manipulating arm under the reference coordinate system 301 of the surgical robot. Each of the robotic arm 250, the adjustment arm 260 and the manipulating arm 270 The movement of the moving joints under the reference coordinate system 301 of the surgical robot will be realized by monitoring the movement of the corresponding joint coordinate system. The master-slave mapping relationship between the doctor's main console and the bedside robotic arm system 101 is also based on these coordinate systems. The relationship transformation between transformation matrices is thus completed. In addition, according to the transformation matrix relationship 370 between the telecentric fixed point coordinate system 307 and the adjustment arm end coordinate system 303, the position information of the telecentric fixed point of the puncture device in the reference coordinate system 301 of the surgical robot and the puncture device can be known posture information.

Considering the central symmetry characteristics of the mechanical structure of the operating table 105 and the distribution of each motion joint in the system, the reference coordinate system 305 of the operating table is usually established at the center of the wheeled chassis 227 and includes two coordinates located on the horizontal plane. axis and the coordinate origin is located on the central axis of the wheeled chassis 227, but in actual implementation, the reference coordinate system 305 of the operating table does not need to be established at the center of the wheeled chassis 227, and only needs to be consistent with the coordinate system of the wheeled chassis 227. Just fix the coordinate transformation relationship. Each joint coordinate system of the operating table 105 is established at each moving joint in sequence according to the coordinate system establishment rules. The operating table table coordinate system 306 is established at the center of the upper surface of the table. Considering that the patient is relatively stationary relative to the table, therefore, through the coordinate system The conversion relationship 350 and the operating table table coordinate system 306 can accurately reflect the overall movement of the patient in the operating table reference coordinate system 305, and can monitor the movement of each joint of the operating table.

Since the body shape and weight of different patients are greatly different, and the different types of surgery make it impossible to accurately obtain the position information of the body opening before surgery, therefore, the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 The conversion relationship 360 between the two cannot be directly obtained, resulting in the inability to obtain the position and posture (position and posture) positioning between the bedside robotic arm system 101 and the operating table 105, making adjustments without releasing the docking relationship between the surgical robot and the patient. When using the operating table, controlling the linkage between the surgical robot and the operating table brings technical obstacles. Usually, when adjusting the operating table without releasing the docking relationship between the surgical robot and the patient, the force acting on the puncture device during the movement of the operating table can only be used to control the driving arm to follow the movement, and at the same time, motion compensation is superimposed to improve the posture. Tracking accuracy, because the movement of the driving arm is passive, instead of transmitting accurate movement instructions directly to the joints of the driving arm of the surgical robot for active control, the interaction force between the puncture device and the patient's body wall is used as the original driving force , it is impossible to assess the degree of influence from uncertain factors such as friction, and there is also the risk of instability.

In this embodiment, by establishing a coordinate system transformation relationship 340 between the reference coordinate system 301 of the surgical robot and the reference coordinate system 305 of the operating table, the relationship between the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 is replaced. The conversion relationship 360 realizes the posture registration between the surgical robot and the operating table, making it easier to control the linkage between the surgical robot and the operating table.

In this embodiment, the coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. In one case, the reference coordinate system of the surgical robot can be established on the motion chassis of the bedside robotic arm system and include a Two horizontal coordinate axes (such as x-axis and y-axis). The reference coordinate system of the operating table is established on the wheeled chassis of the operating table and includes two horizontal coordinate axes (such as x-axis and y-axis) located on the horizontal plane. At the same time, The horizontal planes of the moving chassis and the wheeled chassis are parallel to or coincident with each other. In this way, the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can only be characterized as the horizontal coordinate axis of the reference coordinate system of the surgical robot and The relative deflection angle between the horizontal coordinate axes of the operating table's reference coordinate system, thereby simplifying the calculation of coordinate transformation.

Specifically, as shown in Figure 5, in this embodiment, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 parallel to the ground (O _robot- X _robot Y _robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O _bed- X _bed Y _bed ), without considering the uneven ground. Under the condition, the axis Z _robot of the reference coordinate system of the surgical robot and the Z _bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O _{robot -} There is an angle θz around _the _Z axis between X _robot Y _robot Z _robot and _O _bed- Variables to be known during attitude positioning.

Please refer to Figure 3, Figure 5 and Figure 6. In one embodiment, the ranging component 202 includes a first ranging module 403 and a second ranging module 404. The first ranging module 403 and the second ranging module 404 The detection directions of the first ranging module 403 and the second ranging module 404 are located on the horizontal plane and are perpendicular to the first horizontal coordinate axis of the reference coordinate system of the surgical robot. ( _for _example _, The detection direction of module 404 is illustrated perpendicular to the Y _robot axis. In another embodiment, the first ranging module 403 and the second ranging module 404 may be arranged at intervals on one side of the base of the operating table. The first ranging module 403 and the second ranging module 404 The detection direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (for example, X _bed axis) or the second horizontal coordinate axis (for example, Y _bed axis) of the reference coordinate system of the operating bed. Considering that the length of the base of the operating table is usually longer than the length of the base of the surgical robot, the first ranging module 403 and the second ranging module 404 are arranged on the base of the surgical robot, which can better ensure detection. The target (operating table) is within the detection range.

Using the above ranging component 202, when obtaining the attitude angle θz between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller is configured to:

Obtain the distance value detected by the first ranging module and the second ranging module;

According to the distance value, the position coordinates of the first ranging module in the reference coordinate system of the surgical robot, and the position coordinates of the second ranging module in the reference coordinate system of the surgical robot, calculate the horizontal coordinate axis of the reference coordinate system of the surgical robot and The angle between the horizontal coordinate axes of the operating table's reference coordinate system;

Determine the posture angle based on the angle.

5, the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the position coordinates of the second ranging module 404 in the reference coordinate system of the surgical robot can be reflected. The relative positions of the module 403 and the second ranging module 404 on the X _robot axis, and further, combined with the distance values detected by the first ranging module 403 and the second ranging module, the distances b and c can be obtained. Specifically, when the connection line between the first ranging module 403 and the second ranging module 404 is parallel to the Y _robot axis, the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the second ranging module 404 The position coordinates in the reference coordinate system of the surgical robot can be simplified and do not need to be obtained. At this time, the distance values detected by the first ranging module and the second ranging module are the distances b and c.

After obtaining the distances b and c, according to the trigonometric function theorem, the following formula can be used to calculate the angle between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. The angle is also θz:

Based on the above formula, it is possible to achieve accurate attitude positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The positioning accuracy depends on the measurement accuracy of the ranging component. The realization of this positioning is to perform linkage between the surgical robot and the operating table. The technical basis and implementation prerequisites. It should be understood that the principle shown in Figure 5 is based on simplified configuration and operation. The scheme used and the method of calculating the attitude angle based on the ranging component are not limited to this.

After obtaining the posture registration information between the surgical robot and the operating table, the controller responds to the movement of the operating table table in the posture degree of freedom, and obtains the movement information of the operating table table in the posture degree of freedom, and then can based on the movement of the operating table. The motion information and attitude registration information of the table in the attitude degree of freedom determine the target joint amount of the first joint among the multiple joints of the drive arm, and control the movement of the first joint according to the target joint amount to maintain the puncture device relative to the surgery in the attitude degree of freedom. The posture of the bed countertop.

Among them, the posture freedom refers to the tilting movement of the operating table around an axis parallel to the length of the table or the tilting movement around an axis perpendicular to the length of the table. When the table of the operating table moves with posture freedom, the patient The body opening (telecentric fixed point) moves in position when the operating table moves with degrees of freedom, so the puncture device also needs to change posture (including position and posture). The movement information of the operating table table in the posture freedom includes the rotation direction and rotation angle. The movement information is transmitted to the surgical robot as the target movement direction and angle of the puncture device around the telecentric fixed point, thereby determining the first of the multiple joints of the drive arm. The target joint amount of a joint. The first joint can be one joint or multiple joints. Taking the tilt motion B4 shown in Figure 3 as an example, based on the motion information of the operating table table, the manipulator arm is inversely solved based on the kinematic model of the surgical robot. The unique inverse solution is obtained for the rotating joints J10 and J11 in 270, and then the puncture device 229 is controlled to perform the same rotational motion as the operating table table around the telecentric fixed point 220.

During the process of adjusting the posture of the tabletop of the operating table, the position of the tabletop may also change, including translation and lifting of the tabletop. Since the adjustment of the puncture device is related to the adjustment of the table top of the operating table, during the process of adjusting the attitude of the puncture device, the translation and elevation of the puncture device may also occur as the position of the telecentric fixed point changes. Therefore, the controller of this embodiment is also configured to:

In response to movement of the operating table table in the posture degrees of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to be driven through the target joint based on a force exerted by a body wall at the patient's body opening to track the location of body openings.

Among them, the translation and lifting caused by the puncture device when adjusting the posture are performed passively based on the force exerted by the body wall at the patient's body opening.

Specifically, the positional degrees of freedom include an elevation degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to track through the target joint based on a force exerted by a body wall at the patient's body opening. When the body opening is in the position, the controller is configured for:

In response to the movement of the table top of the operating table in the posture freedom, the second joint in the target joint is controlled to be in a zero force state, and the second joint includes a joint with a lifting degree of freedom to allow the drive arm to be driven by the second joint based on the movement of the patient The force exerted by the body wall of the body opening tracks the movement of the body opening in the lifting degrees of freedom.

Specifically, the positional degrees of freedom include a translational degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the actuation arm to track through the target joint based on the force exerted by the body wall at the patient's body opening. When the body opening is in the position, the controller is configured for:

In response to the movement of the table top of the operating table in the attitude degree of freedom, a third joint in the target joint is controlled to be in a zero force state, and the third joint includes a joint with a translational degree of freedom to allow the drive arm to be driven by the third joint based on the movement of the target joint by the patient The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;

In response to the movement of the third joint, the movement of a fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by tracking movement of the body opening in translational degrees of freedom.

In one embodiment, when controlling the movement of the fourth joint in the target joint, the controller is configured to:

Obtain motion information of the first rotating joint in the third joint, and generate motion information of the second rotating joint in the fourth joint based on the motion information of the third joint. The motion information of the first rotating joint includes the amount of motion and the direction of motion, and the motion information of the second rotating joint is generated based on the motion information of the third joint. The movement information of the rotating joint includes a movement direction opposite to the movement direction of the first rotating joint, and a movement amount that is the same as the movement amount of the first rotating joint;

Control the motion of the second rotating joint according to the motion information of the second rotating joint.

In some embodiments, the corresponding joint in the target joint, such as the second joint and/or the third joint, is controlled to be in a zero-force state. For example, it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity and weight of its distal load. /or overcome it The friction of the joint itself makes it easy to track the position of the body opening based on the force exerted by the body wall of the patient's body opening. Of course, this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.

In some embodiments, when the corresponding joint in the control target joint is in a zero-force state, the controller is configured to:

Obtain the joint position of at least the corresponding joint and its distal joint, determine the compensation torque corresponding to the output of the corresponding joint based on the joint position and the dynamic model associated with the corresponding joint; further, control the corresponding joint to output the compensation torque.

The joint of the drive arm usually includes a position sensor for detecting the position of the joint. The position sensor may be an encoder, for example. The joints of the drive arm usually also include a drive mechanism such as a motor, which controls the corresponding joint to be in a zero-force state, for example, controlling the associated motor to output a compensation torque.

The dynamic model needed to be used in this disclosure is usually constructed for the corresponding joint. For example, the constructed dynamic model is usually different for different corresponding joints. Typically, the dynamic model is associated with the corresponding joint and its distal joint.

For example, the dynamic model for the corresponding joint can be constructed as follows:

Obtain the link parameters of the corresponding joint and its distal joint, and establish the link coordinate system based on these link parameters. Among them, the joints include joints and connecting rods connected to the joints, and the connecting rod parameters (ie, DH parameters) include joint angles and/or joint displacements, connecting rod lengths and other parameters.

A first dynamic model associated with the corresponding joint is constructed according to the link coordinate system. Wherein, the first dynamic model is usually expressed in symbolic form (that is, a formula with unknown parameters), and the first dynamic model is a fuzzy dynamic model (that is, the dynamic parameters are temporarily uncertain). For example, the first dynamic model is expressed as the following formula:

Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint ( is the first derivative of θ), is the speed of the joint ( is the second derivative of θ), M(θ) is the inertia matrix, Including Correct force and centrifugal force, G(θ) is the gravity moment of the joint.

Unknown kinetic parameters in the first kinetic model are determined. The first kinetic model usually includes at least one unknown kinetic parameter. Usually, all unknown kinetic parameters involved in formula (1) can be determined to obtain an accurate second kinetic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can also be ignored according to the actual situation. For example, the key dynamic parameters such as the mass, center of mass and friction torque of the joint can be mainly focused on. In some embodiments, , the mass, center of mass and friction moment of a joint may be affected by the driving mechanism that drives the joint and/or the transmission mechanism that connects the driving mechanism and the joint to achieve transmission. For example, when the structure of the driving arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction moment of the joint can be directly obtained without identification. Of course, at least some of the dynamic parameters such as the joint's mass, center of mass, and friction torque can also be obtained by using identification methods. For example, the mass of a joint can be obtained by weighing, and the center of mass and friction moment of the joint can be obtained by using identification methods. For example, consider ignoring M(θ) and The contribution to the joint moment is acceptable in one example of the present invention, therefore, formula (1) can be abbreviated as follows:
τ＝G(θ) Formula (2)

The determined kinetic parameters are substituted into the first kinetic model to obtain the second kinetic model. Wherein, the second kinetic model is a clear kinetic model (that is, the kinetic parameters have been determined). Furthermore, when combining these joint positions and the dynamic model associated with the corresponding joint to determine the compensation torque corresponding to the expected output of the driving mechanism of the corresponding joint, the dynamic model used refers to the second dynamic model.

In some embodiments, considering the adverse effects caused by friction torque, friction torque can be excluded from the actual torque of the joint, specifically:

The moment balance model of the joint can be constructed based on the principle of dynamic balance. The moment balance model can be expressed as the following formula:

Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint, k ₁ and k ₂ are gravity moment parameters, f is the friction moment of the joint, Indicates the direction of speed.

Furthermore, the friction torque of the joint can be determined through the identification method. For example, a single joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the actual torque of the joint and the corresponding joint position. The single joint refers to the corresponding joint. joint. Among them, during the process of uniform motion, the friction torque is approximately constant and is usually considered to be a fixed value. Therefore, based on the collected actual torque of the joint and the corresponding joint position, and using the least squares method, the friction torque of the joint can be identified. . It can be understood that the actual torque of the joint is output by the driving mechanism that drives the motion of the joint.

Furthermore, when the unknown dynamic parameters in the first dynamic model (such as the gravity moment in formula (2)) are determined through the identification method, each joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the corresponding The actual torque of the joint, and the joint position corresponding to the corresponding joint and its distal joint are combined with the actual torque of the corresponding joint, the friction moment of the corresponding joint, and the corresponding joint position of the corresponding joint and its distal joint, and using such as the minimum quadratic Multiplication can identify unknown dynamic parameters of the joint (such as the gravity moment in formula (2)). For example, in formula (2), the identified unknown dynamic parameters are mainly gravity moment parameters (including mass and center of mass, etc.). Therefore, joint positions and joints associated with the corresponding joints and their distal joints can be effectively constructed. Second dynamic model of the relationship between the compensation moments of the corresponding joints.

Taking the tilting motion B4 shown in Figure 3 as an example, the unique inverse solution of the rotating joints J10 and J11 in the control arm 270 is obtained based on the kinematic model of the surgical robot, and then the puncture device is controlled to execute the operation around the telecentric fixed point and the operating table. While the table is undergoing the same rotational motion, each joint of the adjusting arm 270 is in a non-motion locked state, in which the control joint J5 performs a motion equal to the same size and in the opposite direction as J8 as the attitude of the puncture device caused by the rotational motion of the control arm 270 The passively changed motion compensation ultimately makes the posture of the puncture device remain unchanged relative to the table during the linkage process of posture degrees of freedom. In addition, the joints J6, J7, and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), so that during the movement of the operating table table, the interaction force at the abdominal cavity wall can be relied upon to drag the puncture at the end of the control arm. The device's telecentric fixed point performs movement in a two-dimensional plane.

It should be noted that during the execution of the tilting motion B3, each joint of the robot arm 250 is in a motion locked state, and the linkage form of the adjustment arm 260 and the control arm 270 is the same as that of the tilting motion B4. The difference lies in the relationship between the tilting motion B3 and the tilting motion B4. The rotation axes are perpendicular to each other. Since the rotation matrices of the table movement around different axes are different, the rotation matrix involved in the table movement in the kinematic model used in the linkage calculation can be adjusted accordingly, thereby realizing the linkage of executing tilt motion B3. During the process, the posture of the puncture state remains unchanged relative to the tabletop of the operating table.

In addition, when the posture freedom movement is not performed, the table top of the operating table can also independently move up and down with the freedom degree. The control method of this embodiment also includes: in response to the movement of the operating table table in the lifting degree of freedom, obtaining the movement information of the operating table table in the lifting degree of freedom, and determining the user based on the movement information of the operating table table in the lifting degree of freedom. Based on the target joint amount of the fifth joint that drives the driving arm, the movement of the fifth joint is controlled according to the target joint amount to maintain the position of the puncture device relative to the table top of the operating table in the lifting degree of freedom. Among them, the movement information of the operating table table in the lifting degree of freedom includes the movement direction and the movement amount. Taking the lifting movement B2 shown in Figure 3 as an example, the fifth joint used to drive the driving arm can be the lifting column of the robotic arm 250 204, thereby driving the driving arm to lift as a whole without adjusting the joints with lifting freedom in the driving arm, and preventing the joints with lifting freedom in the driving arm from moving to extreme positions and affecting subsequent actions. During the movement, the mechanical arm 250 does not only lift but also lift. All other movable joints except the column 204 and the drive arm (the adjustment arm 260 and the control arm 270) are in a motion locked state, so that the posture of the moving puncture device 229 always remains stationary relative to the patient's part. In some embodiments, the fifth joint used to drive the driving arm may also be the moving vertical arm 211 of the adjusting arm 260 that performs the up and down lifting motion J7. In some embodiments, the fifth joint used to drive the driving arm may also be a combination of the lifting column 204 and the moving vertical arm 211.

When there is no posture movement, the tabletop of the operating table can also move independently with translational freedom. The controller of this embodiment is further configured to: in response to the movement of the operating table table in translational degrees of freedom, control the sixth joint in the target joint to be in a zero-force state, where the sixth joint includes a joint with translational degrees of freedom, to allow the actuation arm, through the sixth joint, to track movement of the body opening in translational degrees of freedom based on forces exerted by the body wall of the patient's body opening; in response to movement of the sixth joint, controlling movement of a seventh joint in the target joint , to compensate for the tracking body opening due to flat Changes in the posture of the puncture device caused by movement of degrees of freedom.

Wherein, when controlling the motion of the seventh joint among the target joints, the controller is configured to: obtain the motion information of the third rotating joint among the sixth joints, and generate the third rotating joint based on the motion information of the third rotating joint among the sixth joints. The motion information of the fourth rotating joint among the seven joints, the motion information of the third rotating joint among the sixth joints includes the amount and direction of motion, and the motion information of the fourth rotating joint among the seventh joints includes the same as that of the sixth joint. The movement direction of the three rotary joints is opposite to that of the third rotary joint, and the movement amount is the same as the movement amount of the third rotary joint in the sixth joint; the fourth of the seventh joint is controlled based on the movement information of the fourth rotary joint in the seventh joint. Rotational joint movement. Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode. During the movement of the operating table table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion. Based on The kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.

Through the above method, during the simultaneous movement of the operating table and the surgical robot, the puncture device and/or medical instrument installed at the end of the surgical robot can always remain inserted into the patient's body without the need to start the operation before the movement of the operating table. The distal end of the surgical robot disassembles the puncture device and/or medical instrument in use and completely removes it from the patient's body, or, without completely disconnecting the surgical robot from the surgical bed and dragging the robotic arm to the surgical bed Free up space for movement. The disclosed surgical system eliminates the cumbersome operations of repeated docking between the surgical robot and the operating bed, shortens the operation time and improves the execution fluency of the entire operation. In addition, it achieves active control in the degree of freedom of posture, reducing the impact on the patient's body. Wall friction improves safety. Moreover, during the process of linking the surgical robot with the operating bed, the doctor at the main console is allowed to observe and monitor the movement of the patient's organs in the field of view of the surgical site, as well as the movement of the surgical instruments and imaging instruments in the window in real time through the images collected by the imaging equipment. The posture maintenance can reach the desired posture process in the shortest time and ensure the safety and smoothness of the execution process.

During the linkage process, the controller of the present disclosure is also configured to:

According to the tabletop of the operating table, the image collected by the imaging instrument is acquired in the process of controlling the driving arm with a preset degree of freedom motion;

In response to identifying that the target area in the image meets the third preset condition, a control instruction is sent to the operating bed, and the control instruction includes an instruction for controlling at least one of delay adjustment, stop adjustment, and deceleration adjustment of the operating bed; wherein,

Meet the third preset condition, including at least one of the following:

identifying a target surgical site or a marker associated with the target surgical site in the target zone;

The target surgical site is in a preset posture in the target zone.

The preset degrees of freedom include at least one of a translational degree of freedom, a lifting degree of freedom, and an attitude degree of freedom. The process of controlling the drive arm according to the movement of the table top of the operating table in the preset degrees of freedom, that is, the surgical robot and the operating table are linked. the process of. The target area is an area marked in advance in the image display area, including the area that the doctor expects to pay attention to in the image display area, such as the middle area of the image display area or any area expected to be identified, or it can be the entire image display area, during surgery During the movement of the tabletop of the bed, the position of the target area in the images collected by the imaging equipment remains unchanged, and can also be remarked under the control of the doctor. The target area of the image display area can be marked before linkage or during linkage. In addition, before linkage, characteristic areas can also be marked in the real patient anatomy, such as by fluorescence, and then during the linkage process. , to identify the real mark. When it is recognized that the target area in the image meets the conditions, the operating bed can be controlled to delay adjustment, stop adjustment, or decelerate adjustment, thereby making it easier for the doctor to observe whether the desired surgical site reaches the desired position or posture. For delay adjustment and deceleration adjustment, when the doctor confirms that the desired surgical site meets the conditions, the doctor can trigger an instruction to stop the adjustment, or when no other instructions are received for a preset period of time, the operating bed can resume its original linkage.

In some embodiments, one of the third preset conditions "identifying the target surgical site or a mark associated with the target surgical site in the target area" may include detecting that the target surgical site falls into the currently acquired image during the linkage process. The proportion of the target area reaches the preset value of the target area, for example, the proportion of the target surgical site falling into the target area of the currently acquired image Reaching more than 70% of the target area; for another example, the target surgical site completely falls into the target area of the currently collected image; it also includes detecting that the mark associated with the target surgical site during the linkage process falls into the target area of the currently collected image. The number and/or the ratio of the number falling into the target area to the total number of markers reaches a preset value. For example, there are 10 markers associated with the target surgical site, and 7 of them fall into the target area of the currently acquired image. For example, , all 10 markers fall into the target area of the currently collected image, and for example, more than 6 markers fall into the target area of the currently collected image.

In some embodiments, one of the third preset conditions "the target surgical site is in a preset posture in the target area" means that the target surgical site is identified in the target area of the image and the posture of the target surgical site in the target area conforms to Set recognition conditions, such as left tilt, right tilt, opening, etc., so as to have a better surgical field of view. When the tabletop of the operating table moves, the target surgical site will change its posture relative to the imaging instrument according to the tabletop movement of the operating table, and then the posture change will be reflected in the image of the imaging instrument. By identifying the image, the target can be identified Whether the surgical site and its current posture meet the set recognition conditions. When the target surgical site is recognized in the target area and the posture of the target surgical site in the image meets the set recognition conditions, it is considered that the target surgical site is in the target area. Default posture.

In the process of controlling the driving arm according to the motion of the operating table with a preset degree of freedom, in response to the change in orientation between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm, the operating part and the medical instrument are alignment between them.

Among them, the orientation change between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm includes two situations. One is that the orientation relationship is not established before the linkage, the other is that the orientation relationship is established during the linkage. As the linkage progresses, the orientation relationship changes. For example, the operating part includes a first operating part and a second operating part, and the medical device includes a first medical device and a second medical device. Corresponding to the first situation, if before linkage, the first operating part and the second operating part Neither has established mapping with the first medical device and the second medical device. During the linkage process, the first operating part and the first medical device have established a mapping, and an orientation relationship is established at this time; corresponding to the second situation, if before linkage The first operating part is mapped with the first medical device, and during the linkage process, the first operating part is switched to be mapped with the second medical device. At this time, the orientation relationship changes. That is, changes in the orientation relationship usually result from changes in the mapping relationship.

The process of aligning the orientation between the operating part and the medical device may be to obtain the first posture of the medical device mapped by the operating part in the coordinate system of the imaging device, and convert the first posture into the first posture of the operating part in the coordinate system of the display of the display. second posture, and then determine the target joint amount of the joint in the operating part based on the second posture, and drive the corresponding joint movement in the operating part according to the target joint amount of the joint in the operating part, so that the posture of the operating part is consistent with the posture of the medical device, and the operation is completed Orientation alignment between the part and the medical device. By realizing that the orientation of the operating part is aligned with the posture of the associated medical instrument during the linkage process, it is beneficial to save surgical preparation time.

During the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded and stored in real time. If the linkage instruction of one degree of freedom is completed and the linkage instruction of another degree of freedom is received again, the next linkage process is allowed to continue. , without the need to execute each motion joint to return to the initial starting position. In addition, the doctor's main console screen displays the current linkage status between the surgical robot and the electric operating table. If an abnormality occurs, the linkage process can be terminated in time according to the programmed instructions.

In order to ensure the smooth progress of the linkage process between the surgical robot and the operating bed, the controller in this embodiment is also configured to:

Determine whether the surgical robot and/or the operating table meet the second preset condition based on the tabletop of the operating table in front of the motion control drive arm with a preset degree of freedom;

If the second preset condition is met, the drive arm is controlled according to the movement of the operating table table in the preset degree of freedom; where,

Meet the second preset condition, including at least one of the following:

The surgical robot is docked with the patient;

The base of the surgical robot and the base of the operating table are in a motion locked state;

The main operating console of the surgical robot is in a state allowing entry into surgical operations;

The communication connection between the surgical robot and the operating table is in a normal state;

The movable range of each joint in the drive arm is within the preset range of motion.

The preset degrees of freedom include at least one of attitude degrees of freedom, translation degrees of freedom, and height degrees of freedom. The process of determining whether the second preset condition is met may be as follows:

Regarding whether the base of the surgical robot and the base of the operating table are in a motion locked state. Please refer to Figure 3 together. The moving chassis 201 (i.e., the base) of the surgical robot and the wheeled chassis 227 (i.e., the base) of the operating table are in a motion locked state to ensure that the operation process and the linkage process are not performed during the operation. Any movement will occur. Whether the base of the surgical robot and the base of the surgical table are in a motion locked state can be detected and determined by the locking sensor on the base, or after the medical auxiliary personnel perform the operation, the base of the surgical robot and the surgical table are in a motion locked state. Enter the information to confirm the lock on the operation interface;

Regarding whether the communication connection between the surgical robot and the operating table is in a normal state. After establishing the communication connection between the surgical robot and the operating table, you can run the communication detection program on the operating table or surgical robot, and determine whether the communication connection between the surgical robot and the operating table is in a normal state based on the test results, so as to facilitate the operation. Monitor the working status and joint motion information of the robot and operating table;

Regarding whether the surgical robot is connected to the patient. It is necessary to check the relative fixation equipment between the patient and the operating table, and secure the patient smoothly on the operating table to ensure that the patient will not slip significantly relative to the operating table after the patient's position changes, so as not to hinder the surgical robot and the operating table. The operating table is linked. When the surgical robot is docked with the patient, the medical assistant can be allowed to adjust the robotic arm 250 , the adjustment arm 260 and the manipulating arm 270 to perform the desired directional positioning according to the surgical requirements, and operate it to be installed at the distal end of the driving arm of the surgical robot. The surgical instruments and imaging instruments are inserted into the patient's body. After the operation is completed, information to confirm the docking is input on the operating interface on the operating bed or surgical robot;

Regarding whether the movable range of each joint in the drive arm is within the preset range of motion. The preset motion range includes the center area of the maximum motion range of each joint in the drive arm. The preset motion range includes at least one of an angular motion range and a linear motion range. For example, the maximum angular motion range is -90° to 90°. , then the preset motion range can be -45°~45°. The moving joints involved in the linkage process should be in the non-limit area of their respective motion ranges. The ideal position of the joints is in the center area of the motion range, so as to avoid being blocked because the joints have reached the extreme position before the movement is completed. This forces an undesirable phenomenon of motion termination. Therefore, it is necessary to judge the range of motion of each joint before starting linkage. For example, by detecting the current position and angle of the joint to determine whether the range of motion of the joint is within the preset range of motion;

Regarding whether the main operating console of the surgical robot is in a state that allows entry into surgical operations, it can be determined by detecting whether the orientation between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm is aligned, and other conditions that need to be met for the operation. The test results determine whether the main operating console of the surgical robot is allowed to enter surgical operations.

After completing the preoperative equipment preparations, the medical assistant can trigger the command to enter the linkage mode on the operating table. The linkage mode means that the surgical robot controls the drive arm in a preset degree of freedom according to the tabletop of the operating table, so that the puncture device The position and posture relative to the operating table remain unchanged. After triggering the command to enter the linkage mode, the controller of the operating table sends a command request to start the linkage to the control system of the surgical robot through wired or wireless means (such as infrared transmission). At this time, the surgical robot makes a decision based on the internal program instructions that have been written. Regarding the accurate judgment of the second preset condition, if all the second preset conditions are met, the linkage mode is allowed to be entered. If one or more of the second preset conditions cannot be met, the linkage request can be sent again until the second preset condition is met. Assume that all conditions are met before entering the linkage mode. If the process of judging the second preset condition and sending the linkage request are in the iterative loop process for more than the system's internal set time, the request process to enter the linkage mode will be forced to terminate and exit.

After entering the linkage mode, first perform posture registration between the surgical robot and the operating table. If the registration is successful, the doctor's main console can allow feedback and display of the registration through readable media (such as color-changeable signal lights). The success signal allows doctors to be notified in time, thereby prompting doctors and medical assistants to continue to execute the next instruction; if the registration is unsuccessful, the next linkage command in the linkage mode cannot be entered, and readable media will be displayed on the doctor's main console. Signal prompts with eye-catching colors (such as red) will not allow you to proceed to the next step until the registration is successful.

After successful registration, linkage is allowed to begin. In order to ensure the safety of the linkage process between the surgical robot and the operating bed, the controller of the present disclosure is also configured to:

In the process of controlling the drive arm according to the motion of the operating table with a preset degree of freedom, it is judged whether the surgical robot is Meet the first preset condition;

If the first preset condition is not met, stop controlling the drive arm according to the movement of the operating table table in the preset degree of freedom; where,

Meet the first preset condition, including at least one of the following:

The position between the puncture device and the body opening is in a preset state;

The position between the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state;

Among them, the control method of the surgical robot during the linkage process refers to the previous description. During the linkage process, the movement information of all joints of the surgical robot and the operating bed is monitored, recorded and stored in real time, and whether the surgical robot meets the first predetermined state is monitored in real time. Set conditions. Among them, whether the position of the puncture device and the body opening is in a preset state can be identified through the image collected by the imaging instrument installed at the distal end of the driving arm. If the surgical area partially or completely disappears from the image, It can be judged that the puncture device has a large relative movement with the body opening and is not in a preset state. Whether the position of the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state can be identified through the images collected by the imaging instrument installed at the distal end of the driving arm. If there is a gap between the medical instrument and the surgical site, If the relative distance or angle changes exceed a certain threshold, it can be judged that a large relative movement has occurred between the medical device and the surgical site and is not in a preset state. In addition, during the linkage process, the moving joints involved should be in non-limiting areas within their respective ranges of motion. The ideal position is for the joints to be in the center area of the range of motion, so as to avoid the joints having reached their extreme positions before the movement is completed. This results in an undesirable phenomenon of forced termination of motion. Therefore, it is possible to determine whether the movable range of the joint is within the preset range of motion by detecting the current position and angle of the joint.

In some embodiments, when the first preset condition is not met and the driving arm is stopped to move according to the preset degree of freedom of the table top of the operating table, an instruction can generally be issued to stop controlling the movement of the table top of the operating table in the preset degree of freedom. sport control.

Before the posture of the operating table table reaches the target posture, the movement of the operating table table only executes the movement commands operated by the medical assistant's keys in the movement command area of the operating table controller. If a key command appears during execution When the same button is pressed multiple times in succession, the system only executes the first button command and automatically blocks repeated action requests in the program. In addition, if another motion command function key is pressed while a key command is being executed, the system will continue to execute the unfinished motion command and automatically block other key requests during this process. After the operating table posture reaches the target posture, the motion command being executed automatically ends, and it is in a state of waiting for the next operation command. If you need to continue to execute a new motion command, you need to press the button to execute the motion again and send another message to the system. Movement request. After the linkage is completed, operate the exit function key to exit the linkage mode. After exiting the linkage mode, the system automatically switches back to the regular master-slave operation mode and is in a state of waiting for the next operation command.

Figure 7 is a schematic diagram of an operating table operating panel according to an embodiment. The operation panel 600 includes, but is not limited to, display areas and operation areas such as a screen display area 801, a mode switching functional area 802, and a motion command area 803. The screen display area 801 further includes, but is not limited to, the current status of the operating bed, the range of motion of each joint, the current motion instructions executed on the table, data connection and registration success signals, etc., thereby allowing medical auxiliary personnel to view and view information through the screen display at any time. It can grasp the current motion status of the operating table and provide accurate current information for the next button operation to effectively avoid operational errors. The mode switching functional area 802 further includes, but is not limited to, a registration button, a stop button, an exit button, a lock and an unlock button. The registration button is used to perform all registrations between the surgical robot and the operating table in each degree of freedom of movement, and wait for the execution of the next operation command. The stop button is used to interrupt the control program midway to stop the linkage action between joints and maintain the motion state at the stop moment until the next operation command is executed. The exit button is used to switch from the linkage mode back to the regular master-slave operation mode after the linkage is completed. The lock and unlock buttons are used to stop and release the movement of the wheeled chassis of the surgical robot and operating table before and after surgery. The motion command area 803 further includes, but is not limited to, the buttons displayed on the operation panel in Figure 7. Each button defines a motion command for each degree of freedom using the base coordinate system of the operating table as the motion reference coordinate system. The number of buttons is based on the operating table allowed in the linkage mode. Determined by the number of degrees of freedom to perform motion.

The surgical system of the present disclosure includes an operating bed; a surgical robot. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert into the body opening of the organism located on the table top of the operating bed. Inside; the controller is coupled to the operating table and the surgical robot, and is configured to: obtain the connection between the surgical robot and the operating table. posture registration information; in response to the movement of the operating table table in the posture degree of freedom, obtain the movement information of the operating table table in the posture degree of freedom; determine the target of the first joint among multiple joints based on the movement information and posture registration information The joint quantity controls the movement of the first joint according to the target joint quantity to maintain the attitude of the puncture device relative to the tabletop of the operating table in the attitude degree of freedom. Based on the posture registration information between the surgical robot and the operating table, the present disclosure can actively control the driving arm to adjust the posture of the puncture device when the tabletop of the operating table moves with posture freedom, thereby improving operating efficiency and safety.

The surgical system of the present disclosure also has the following beneficial effects:

① Able to achieve linkage between the surgical robot and the operating bed. During the linkage process, the removal of puncture devices and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body, the removal and installation of surgical tools at the end of the surgical robot, and the elimination of The tedious and repeated docking operations such as all contacts between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve the smoothness of the operation;

② The linkage between the surgical robot and the operating table can be realized by using only the posture positioning method. The application implementation method is simple and the reliability is higher.

In another embodiment, the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment, and the controller may also be configured to:

Controlling a first joint of a plurality of joints of the drive arm in a zero force state, the first joint including a joint having a translational degree of freedom to allow the drive arm to be driven by the first joint based on a force exerted by a body wall of the patient's body opening to track the movement of the body opening in translational degrees of freedom;

During the process of the first joint passively tracking the movement of the body opening in translational degrees of freedom, a first position of the puncture device at a first moment is acquired, and a second position of the puncture device at a second moment adjacent to the first moment is acquired. Location;

Through the above method, during the process of the driving arm passively tracking the movement of the body opening in translational degrees of freedom, the posture registration relationship between the surgical robot and the operating table can be determined based on the position change of the puncture device, and the posture registration relationship between the surgical robot and the surgical bed can be actively performed. Provide a basis for adjustments, thereby improving the efficiency and safety of operations. Among them, the puncture device can move around the telecentric fixed point at the distal end of the driving arm, so the position of the telecentric fixed point can be used to represent the position of the puncture device. However, in actual implementation, the position of the puncture device can also be determined by other relative positions. The telecentric fixed point is characterized by the position of a feature point with a fixed positional relationship, which is not limited here.

In order to actively control the drive arm to adjust the posture of the puncture device when moving on the operating table with a degree of freedom of posture, it is necessary to first obtain the posture registration relationship between the surgical robot and the operating table. The posture registration relationship refers to the location of the surgical robot. The conversion relationship between the reference coordinate system and the reference coordinate system where the operating table is located. In this embodiment, by establishing a coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the attitude registration relationship between the surgical robot and the operating table is obtained.

The translational motion of the tabletop of the operating table in the translational degree of freedom includes the translational motion that commands the tabletop of the operating table to move in the translational degree of freedom, and the motion of the tabletop in translation caused by commanding the tabletop of the operating table to move in the attitude degree of freedom. At least one of translational motions. The following describes respectively the posture registration process during the movement of the operating table table with a translational degree of freedom, and the posture registration process during the movement of the operating table table with a posture degree of freedom.

(1) The posture registration process during the translational freedom movement of the operating table table.

Before the tabletop of the operating table moves with a translational degree of freedom, a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient The body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom. Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining joints J5 of the adjusting arm 260 are in a motion locked state. , J6 and J8 are all in zero force state. Therefore, during the translational freedom movement of the table top of the operating table, the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220 can be relied upon to drag the control arm 270 to drive the telecentric motion. Moving point 220 performs translation movement move.

In some embodiments, the first joint among the plurality of joints is controlled to be in a zero-force state. For example, it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity of its distal load and/or overcome the friction of the joint itself. Force to easily track the position of the body opening based on the force exerted by the body wall of the patient's body opening. Of course, this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.

When the first joint among the plurality of joints of the surgical robot is in a zero-force state, the controller responds to the translational movement of the operating table table in the translational degree of freedom, and further passively performs tracking of the body opening in the translational degree of freedom at the first joint. During the movement, the first position of the puncture device at the first moment is acquired, and the second position of the puncture device at the second moment adjacent to the first moment is acquired. Based on the first position and the second position, the operation can be determined. The first attitude registration information between the robot and the operating table.

Wherein, when acquiring the first position of the puncture device at the first moment, the controller is configured to: acquire joint variables of multiple joints at the first moment, and determine the first position based on the joint variables and using forward kinematics. When acquiring the second position of the puncture device at a second moment adjacent to the first moment, the controller is configured to: acquire joint variables of a plurality of joints at the second moment, and determine the second position based on the joint variables and using forward kinematics. Location. The first position and the second position may be coordinate positions in the reference coordinate system of the surgical robot. When performing posture registration, the first position and the second position are mainly considered to be coordinate positions in the two-dimensional horizontal coordinate system of the surgical robot, that is, Can.

Among them, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other; based on the first position and In the second position, when determining the first attitude registration information between the surgical robot and the operating table, the controller is configured to:

According to the coordinates of the first position and the second position in the two-dimensional horizontal coordinate system of the surgical robot, the first displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the first displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined. The second displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system;

According to the first displacement component and the second displacement component, calculate the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the first posture between the surgical robot and the operating table Registration information.

Please refer to Figure 8. Taking the surgical system shown in Figure 3 as an example, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground. _robot- X _robot Y _robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O _bed- X _bed Y _bed ), without considering the uneven ground. Under the condition, the axis Z _robot of the reference coordinate system of the surgical robot and the Z _bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O _{robot -} There is an angle θz around _the _Z axis between X _robot Y _robot Z _robot and _O _bed- Variables to be known during attitude positioning. In Figure 8, the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A. Based on the joint kinematics model of the bedside robotic arm system, it can be obtained that point A is in the coordinate system O _robot- The coordinates under _robot Y _robot Z _robot are expressed as A(x ₁ , y ₁ ), which is the first position. When the tabletop of the operating table moves in translation along the axis Y _bed , the telecentric fixed point changes from the starting position During the movement of point A (x ₁ , y ₁ ) to the second position point B (x ₂ , Y ₂ ), the first displacement component of point A along the Y _bed axis under the reference coordinate system of the operating bed can be expressed as for The first displacement component of point A along the X _robot axis (the first horizontal coordinate axis) in the reference coordinate system of the surgical robot is represented by Δx, and the second displacement component along the Y _robot axis (the second horizontal coordinate axis) is represented by is Δy, and the coordinate information of point A (x ₁ , y ₁ ) and point B (x ₂ , y ₂ ) can be derived and calculated based on the coordinate system relationship of the kinematic model, thereby obtaining the displacement components Δx and Δy.

After obtaining the displacement components Δx and Δy, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y-axis) of the coordinate system 402 and the coordinate system 406. This angle is also the angle of the surgical robot. The first rotation angle value on the horizontal plane between the reference coordinate system and the reference coordinate system of the operating table:

Based on the above formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be achieved. The realization of this posture registration is the technical basis and prerequisite for the implementation of linkage between the surgical robot and the operating table.

As the moving distance of the operating table table gradually increases, the position of the telecentric fixed point is constantly updated, and its displacements Δx and Δy will also be continuously updated. The changed position is used to update the attitude registration relationship, which can This makes the calculated attitude angle θ _z more and more accurate in the continuous updating process. Accordingly, in an embodiment, the controller is further configured to:

Obtaining a third position of the puncture device at a third moment adjacent to the second moment while the first joint passively performs tracking the movement of the body opening in translational degrees of freedom;

Based on the second position and the third position, determine the second attitude registration information between the surgical robot and the operating table;

When the first posture registration information and the second posture registration information meet the preset conditions, a third posture between the surgical robot and the operating bed is determined based on one or more of the first posture registration information and the second posture registration information. Three-pose registration information.

Wherein, when acquiring the third position of the puncture device at a third moment adjacent to the second moment, the controller is configured to: acquire joint variables of a plurality of joints at the third moment, and determine based on the joint variables and using forward kinematics third position. While the first joint passively performs tracking of the movement of the body opening in translational degrees of freedom, the third position is acquired after acquiring the second position, that is, the updated position of the puncture device.

When determining the second attitude registration information between the surgical robot and the operating table based on the second position and the third position, the controller is configured to:

According to the coordinates of the second position and the third position in the two-dimensional horizontal coordinate system of the surgical robot, the third displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the third displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined. The fourth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system;

According to the third displacement component and the fourth displacement component, calculate the second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the second posture between the surgical robot and the operating table. Registration information.

The principle and process of calculating the second rotation angle value are the same as the principles and processes of calculating the first rotation angle value. The only difference is that the second position and the third position are used for calculation. In another embodiment, the first horizontal coordinate axis of the puncture device in the two-dimensional horizontal coordinate system of the surgical robot may also be determined based on the coordinates of the first position and the third position in the two-dimensional horizontal coordinate system of the surgical robot. The fifth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot, and the sixth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot. Based on the fifth displacement component and the sixth displacement component, calculate the reference coordinate system and surgical coordinate system of the surgical robot. The second rotation angle value on the horizontal plane between the reference coordinate system of the bed is used to obtain the second posture registration information between the surgical robot and the operating table. The principle and process are also the same as those for calculating the first rotation angle value.

When the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include two-dimensional horizontal coordinate systems, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other, the first attitude registration information The first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is used for characterization, and the second attitude registration information is characterized by the relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. When the second rotation angle value on the horizontal plane is represented, when the first posture registration information and the second posture registration information meet the preset conditions, based on one of the first posture registration information and the second posture registration information or a plurality of third posture registration signals are determined between the surgical robot and the operating table, and the controller is configured to:

If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value and the second rotation angle value are used as the third posture registration information. The average of the angle values is used as the third pose registration information.

Among them, during the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, according to the position change of the puncture device, the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed on the horizontal plane are constantly adjusted. The rotation angle value is calculated until the difference between two adjacent rotation angle values is within the preset range, that is, the difference is less than the preset angle accuracy deviation threshold. At this time, the attitude registration relationship is considered to meet the accuracy requirements. , the recently calculated rotation angle value can be used as the target attitude registration relationship used in subsequent linkage control, and linkage control can be started. Of course, since the deviation between the last two calculated rotation angle values is small, any one or the average of the last two calculated rotation angle values can also be used as the target attitude registration relationship used in subsequent linkage control. In actual implementation, when the modeling is accurate, registration only needs to be done once. Therefore, the first attitude registration information can also be directly used as the target attitude registration relationship used in subsequent linkage control, and the attitude registration can be performed once. Once accurate, linkage control can begin.

In the process of calculating and updating the posture registration relationship, the transmission of table motion information from the operating table to the surgical robot needs to always maintain good real-time performance. During the posture registration process, the speed of the operating table is adjusted to the first speed. After the registration is completed, the speed of the operating table is adjusted to the second speed. The second speed is greater than or equal to the first speed. Usually, the second speed is greater than the first speed.

During the movement of the table top of the operating table in translational degrees of freedom, the first joint passively tracks the movement of the body opening in translational degrees of freedom, which may cause changes in the attitude of the puncture device. Therefore, among the multiple joints that control the driving arm, After the step in which the first joint is in a zero-force state, the controller is further configured to:

In response to the translational movement of the table top of the operating table in the translational degree of freedom, the second joint movement of the plurality of joints is controlled to compensate for the attitude change of the puncture device caused by the first joint passively performing a movement tracking the translational degree of freedom.

In one embodiment, when controlling the movement of the second joint among the plurality of joints, the controller is configured to:

Obtain motion information of the first rotating joint in the first joint, generate motion information of the second rotating joint in the second joint based on the motion information of the first rotating joint in the first joint, the first rotating joint in the first joint The motion information includes the amount and direction of motion, and the motion information of the second rotary joint in the second joint includes the motion direction opposite to the motion direction of the first rotary joint in the first joint and the first rotation in the first joint. The amount of motion of a joint that is the same amount of motion;

Control the movement of the second rotary joint in the second joint according to the motion information of the second rotary joint in the second joint.

Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode. During the movement of the operating table table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion. Based on The kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.

(2) The attitude registration process during the rotational freedom movement of the operating table table.

When the table top of the operating table rotates with a degree of freedom, it can cause the table top of the operating table to move with a degree of freedom. Therefore, during the table top of the operating table rotates with a degree of freedom, it can also move with a degree of freedom based on the table top of the operating table. The process of high-speed movement realizes the posture registration of the surgical robot and the operating table. Before the tabletop of the operating table moves with a translational degree of freedom, a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient The body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom. Taking the tilting motion B4 shown in Figure 3 as an example, each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation During the movement of the bed table, the interaction force at the abdominal wall can be relied upon to drag the telecentric fixed point of the puncture device at the end of the manipulating arm to perform movement in a two-dimensional plane.

When the first joint among the plurality of joints of the surgical robot is in a zero-force state, in response to the translational movement of the operating table table in the translational degree of freedom, further passively performing tracking the movement of the body opening in the translational degree of freedom is performed at the first joint During the process, the first position of the puncture device at the first time is obtained, and the second position of the puncture device at the second time adjacent to the first time is obtained. Based on the first position and the second position, it can be determined that the relationship between the surgical robot and the surgical robot is First posture registration information between operating tables. During the posture registration process during the rotational freedom movement of the table top of the operating table, the position of the puncture device is obtained. The method of positioning is the same as the attitude registration process when the tabletop of the operating table directly moves with translational degrees of freedom. We will not go into details here. The specific operation process will be explained below with reference to Figures 9 and 10.

Please refer to Figure 9. Taking the surgical system shown in Figure 3 as an example, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground. _robot- X _robot Y _robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O _bed- X _bed Y _bed ), without considering the uneven ground. Under the condition, the axis Z _robot of the reference coordinate system of the surgical robot and the Z _bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O _{robot -} There is an angle θz around _the _Z axis between X _robot Y _robot Z _robot and _O _bed- Variables to be known during attitude positioning. In Figures 9 and 10, the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A. Based on the joint kinematics model of the bedside robotic arm system, it can be obtained that point A is in the coordinate system O _The _coordinates _under _robot- _{_} _{_} _408O _table- _{_} _{_} _{_} _{_} _{_} _{_} ,y ₃ ), the displacement component of point A along the X _bed axis under the reference coordinate system of the operating bed can be expressed as The displacement component along the Z _bed axis can be expressed as At the same time, the first displacement component of point A along the X _robot axis in the reference coordinate system of the surgical robot is expressed as Δx′, and the second displacement component along the Y _robot axis is expressed as Δy′, and point A (x ₁ , The coordinate information of y ₁ ) and point C (x ₃ , y ₃ ) can be derived and calculated based on the kinematic model coordinate system relationships 310, 320 and 370, thereby obtaining the displacement components Δx′ and Δy′.

After obtaining the displacement components Δx′ and Δy′, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. This angle is also the surgical The first rotation angle value on the horizontal plane between the robot's reference coordinate system and the operating table's reference coordinate system:

Based on the above formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be achieved. The realization of this posture registration is the technical basis and prerequisite for the implementation of linkage between the surgical robot and the operating table. As the moving distance of the operating table table gradually increases, the position of the telecentric fixed point is continuously updated, and its displacements Δx′ and Δy′ will also be continuously updated. The changed position is used to update the posture registration relationship. , which can make the calculated attitude angle θ _z more and more accurate in the continuous updating process. During the posture registration process when the table top of the operating table moves with a rotational degree of freedom, the posture registration relationship is updated in the same manner as when the table top of the operating table directly moves with a translational degree of freedom, and will not be described again here.

During the translational movement of the tabletop of the operating table, the first joint passively performs tracking of the movement of the body opening in translational degrees of freedom, which may cause changes in the posture of the puncture device. Therefore, the first joint among the multiple joints that control the drive arm After being in the zero force state, the controller is also configured to:

Among them, the movement of the second joint among multiple joints is controlled, including:

Taking the tilting motion B4 shown in Figure 3 as an example, each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation During the movement of the bed table, it can rely on the interaction force at the abdominal wall to drag the telecentric fixed point of the puncture device at the end of the manipulating arm to perform movement in a two-dimensional plane. By controlling joint J5, it is executed in the same size and opposite direction as J8. The amount of motion is used as motion compensation for passive changes in the posture of the puncture device, so that the posture of the puncture device remains unchanged relative to the table top of the operating table.

The above posture registration process is based on the position change of the puncture device caused by the movement of the first joint passively tracking the translational degree of freedom in response to the translational movement of the tabletop of the operating table, and the posture configuration is obtained based on software calculations. According to the accurate relationship, the attitude positioning between the surgical robot and the operating table can be realized without using any external positioning sensors, which is low cost and high efficiency.

After completing the above posture registration process, if the table top of the current operating table is moving with a translational degree of freedom based on the command of the translational degree of freedom movement, the posture registration relationship can be stored, and the tabletop of the operating table is moving based on the posture degree of freedom. When the posture freedom movement is commanded, the driving arm is actively controlled to adjust the posture of the puncture device based on the posture registration relationship between the surgical robot and the operating table. After completing the above posture registration process, if the current operating table table is performing posture freedom movement based on the posture freedom movement command, the driving arm can be actively controlled based on the posture registration relationship between the surgical robot and the operating table. Adjust the posture of the puncture device. Therefore, based on the acquired posture registration relationship, the operating table can be adjusted without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.

In yet another embodiment, the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment. One of the surgical robot and the operating bed is provided with a distance measuring device. The first horizontal coordinate axis and the second horizontal coordinate axis of the surgical robot's reference coordinate system are located on the horizontal plane, and the first horizontal coordinate axis and the second horizontal coordinate axis of the operating table's reference coordinate system are located on the horizontal plane. The horizontal plane where the second horizontal coordinate axis is located and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other. In determining posture registration information between the surgical robot and the operating table, the controller is configured to:

Obtain detection data from the ranging device, where the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed;

The first vertical distance and the second vertical distance between the surgical robot and the operating table include the minimum distance scanned by the ranging sensor, and/or the distance scanned by the ranging sensor from a horizontal direction perpendicular to the installation position. Actual During application, the required first vertical distance and second vertical distance are selected according to the installation method of the ranging sensor and the model selected to calculate the registration information.

When the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance detected by the distance measuring sensor, and the second vertical distance is the distance detected by the distance measuring sensor from a horizontal direction perpendicular to the installation position.

When the ranging device includes a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the minimum distance detected by the first ranging sensor, The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance The distance the sensor detects from the horizontal direction perpendicular to the installation location. According to the detection data and the position coordinates of the ranging device, the rotation angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be determined as posture registration information.

The other one of the surgical robot and the operating bed is provided with a positioning mark within the detection range of the ranging device, and the detection number The data also includes the distance between the distance measuring device and the positioning mark, and the detection angle of the distance measuring device. The controller is also configured to:

According to the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position of the positioning mark in the reference coordinate system of the surgical robot can be determined, and then combined with the position of the positioning mark in the reference coordinate system of the operating bed, the operation result can be obtained The positional relationship between the robot's reference coordinate system and the surgical robot's reference coordinate system is used as position registration information. Therefore, pose registration information is obtained based on the rotation angle and positional relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.

According to the registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and the posture information of the puncture device in the reference coordinate system of the surgical robot, the alignment between the puncture device and the reference coordinate system of the operating table can be determined. Attitude registration information and/or position registration information, or attitude registration information and/or position registration information between the table top of the operating table and the reference coordinate system of the surgical robot. At this point, the premise of actively controlling the driving arm of the surgical robot to adjust the position and posture of the puncture device when the position and posture of the operating table changes.

Figures 11 and 12 illustrate the implementation of registering the surgical robot and the operating bed when the ranging device includes a ranging sensor.

(1) Obtain the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.

As shown in Figure 11, when the ranging device includes a first ranging sensor 503, the first ranging sensor 503 is installed on the first fixed turntable 502. The first fixed turntable 502 is connected to the first servo motor 504. The first servo motor 504 is installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or operating table. The first ranging sensor 503 may select a laser ranging sensor. The positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located. The installation side 510 can be the side of the surgical robot or the operating bed. The two planes are parallel to each other and there is a height difference at the intersection. The height difference is, for example, 0.1 mm, thereby forming the positioning mark 513, and the extending direction of the positioning mark 513 is perpendicular to the horizontal plane. When the first servo motor 504 drives the first fixed turntable 502 to perform rotational motion under program control, the laser 508 emitted by the first ranging sensor 503 shines on the installation side 510 where the positioning mark 513 is located, and detection data can be obtained. The detection data includes The first vertical distance and the second vertical distance between the surgical robot and the operating bed, the distance between the first distance measuring device 503 and the positioning mark 513, and the detection angle of the first distance measuring device 503.

As shown in Figure 12, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O _robot- X _robot Y _robot ) parallel to the ground. The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O _bed- X _bed Y _bed ), without considering the uneven ground. Under the condition, the axis Z _robot of the reference coordinate system of the surgical robot and the Z _bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O _{robot -} There is an angle θz around _the _Z axis between X _robot Y _robot Z _robot and _O _bed- Variables to be known during attitude positioning. The initial direction of the first ranging sensor 503 is the emission direction perpendicular to the installation position, which is located on the horizontal plane and perpendicular to the first horizontal coordinate axis (for example, the X _robot axis) or the second horizontal coordinate axis of the reference coordinate system of the surgical robot. (For example, Y _robot axis). In FIG. 12 , the Y _robot axis is parallel to or coincident with the long axis of the surgical robot base 401, and the initial direction of the first ranging sensor 503 is perpendicular to the Y _robot axis.

When the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance b scanned by the distance measuring sensor, and the second vertical distance is the distance a scanned by the distance measuring sensor from a horizontal direction perpendicular to the installation position, according to the triangle Function theorem, the angle θz around the Z axis between the coordinate system O _robot- X _robot Y _robot Z _robot and O _bed- X _bed Y _bed Z _bed can be calculated according to the following formula:

The angle θz obtained above is also the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. Therefore, based on the above formula, it is possible to achieve accurate posture positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The positioning accuracy depends on the measurement accuracy of the ranging sensor. The realization of this positioning is to execute the operation between the surgical robot and the operating table. The technical basis and implementation prerequisites for linkage.

(2) Obtain the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.

Among them, when determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the controller is configured to:

According to the distance between the distance measuring device and the positioning mark, the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine the location of the positioning mark on the equipment where the distance measuring device is installed. Position coordinates in the reference coordinate system;

According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed, and the position coordinates of the positioning mark in the reference coordinate system of the equipment where it is located. The position coordinates are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.

The distance measuring device is installed on one of the surgical robot and the operating bed, and the positioning mark is on the other of the surgical robot and the operating bed.

In the detection data, the distance between the ranging device and the positioning mark and the detection angle of the ranging device are obtained in the following ways, including:

Get the target detection range;

Control the ranging device to rotate in the target detection range to perform reciprocating scanning;

Determine whether the positioning mark is detected;

If so, obtain the corresponding target detection data when the positioning mark is scanned. The target detection data includes the target distance;

Determine whether the conditions for stopping scanning are met;

If the conditions for stopping scanning are not met, the target detection range is reduced as the updated target detection range, and returns to the step of controlling the ranging device to rotate the target detection range for reciprocating scanning;

If the conditions for stopping scanning are met, the distance between the distance measuring device and the positioning mark is determined based on the acquired target detection data, and the detection angle corresponding to the distance is obtained as the detection angle of the distance measuring device.

Among them, the conditions for stopping scanning include at least one of the following:

The number of times the positioning mark is detected reaches the preset number;

The difference between the target distances in the two most recent detection data is less than or equal to the preset difference;

The target detection range is reduced to a constant value;

Scan the target detection range to a unique distance value.

Among them, the ranging device performs reciprocating scanning motion driven by the driving device. As the positioning mark is continuously detected during the scanning process, the detection range will continue to shrink. During this process, the target distance when the positioning mark is scanned is recorded. At the same time, the target detection angle corresponding to the target distance can also be recorded. If the number of scans reaches more than 2 times, and the difference between the target distances in the last two detection data is less than or equal to the preset difference, the scanning can be stopped, and the ranging device and positioning device are determined based on the target distances in the last two detection data. For example, the distance between the markers can be averaged, or the latest target distance can be taken, and then the detection angle corresponding to the latest target distance can be obtained as the detection angle at which the distance measuring device scans the positioning mark.

In another embodiment, scanning can also be stopped when the detection range continues to shrink to a constant value. At this time, the distance measuring device is aligned with the positioning mark, or the data scanned with the target detection range only contains a unique distance value. At this time, The ranging device is also aligned with the positioning mark. In this case, the target distance in the last detection data is obtained as the distance between the ranging device and the positioning mark. At the same time, the ranging device can collect data through the encoder after it stops moving. and calculate to obtain the angle between the distance measuring device and the emitted detection light, that is, the detection angle at which the distance measuring device scans the positioning mark. In this way, by setting the conditions for stopping scanning, a higher-precision distance and detection angle can be obtained, and the ranging efficiency can be improved.

As shown in Figure 12, the distance c between the first ranging sensor 503 and the positioning mark 513 is scanned and obtained in the above manner. At this time, the first ranging device 503 scans to the detection angle of the positioning mark 513 including the first ranging sensor. 503 corresponds to the detection angle θ ₁ of distance c. _The coordinates _of _the _first ranging sensor 503 in the coordinate system O _robot- That is _, the coordinates (x _rb1 , y _rb1 ) of the positioning mark 513 in the coordinate system _O _robot- Shown as:

At this point, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is obtained.

It should be understood that Figures 11 and 12 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.

It is worth mentioning that after completing the above pose registration process, the driving arm can be actively controlled to adjust the posture of the puncture device based on the movement of the current tabletop of the operating table, or the driving arm can be actively controlled to adjust the position and posture of the puncture device, so as to It is possible to adjust the operating bed without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.

Figures 13 and 14 illustrate the implementation of registering the surgical robot and the operating table when the ranging device includes two ranging sensors.

As shown in Figure 13, the ranging device includes a first ranging sensor 503 and a second ranging sensor 506. The first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the horizontal plane. The first ranging sensor 503 is installed On the first fixed turntable 502, the first fixed turntable 502 is connected to the first servo motor 504, the second distance sensor 506 is installed on the second fixed turntable 505, and the second fixed turntable 505 is connected to the second servo motor 507. A servo motor 504 and a second servo motor 507 are installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or the operating table. The initial state of the first servo motor 504 and the second servo motor 507 during the installation process is set so that the two light beams emitted by the first distance sensor 503 and the second distance sensor 506 are parallel to each other. Among them, the first ranging sensor 503 and the second ranging sensor 506 may be laser ranging sensors. The positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located. The installation side 510 can be the side of the surgical robot or the operating bed. The two planes are parallel to each other and there is a height difference at the intersection. The height difference is, for example, 0.1 mm, thereby forming a positioning mark 513 whose extending direction is perpendicular to the horizontal plane. When the first servo motor 504 and the second servo motor 507 drive the first fixed turntable 502 and the second fixed turntable 505 to perform rotational motion under program control, the laser emitted by the first ranging sensor 503 and the laser emitted by the second ranging sensor 506 The lasers 508 and 509 are illuminated on the installation side 510 where the positioning mark 513 is located, and the detection data can be obtained. The detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed, the ranging device and the positioning mark 513. distance between them and the detection angle of the distance measuring device.

As shown in Figure 14, the first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the base of the surgical robot. The initial directions of the first ranging sensor 503 and the second ranging sensor 506 are perpendicular to the installation position. The exit direction, the initial direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (such as the X _robot axis) or the second horizontal coordinate axis (such as the Y _robot axis) of the reference coordinate system of the surgical robot. In Figure 14, the Y _robot axis and It is shown that the long axes of the surgical robot base are parallel or coincident, and the initial directions of the first ranging sensor 503 and the second ranging sensor 506 are perpendicular to the Y _robot axis.

The first vertical distance in the detection data is the distance b obtained by the first ranging sensor 503 scanning from the horizontal direction perpendicular to the installation position, and the second vertical distance is the distance b obtained by the second ranging sensor 506 scanning from the horizontal direction perpendicular to the installation position. The distance c, the connection line between the first ranging sensor 503 and the second ranging sensor 506 is parallel to the Y _robot axis, the distance between the first ranging sensor 503 and the second ranging sensor 506 is a, according to the trigonometric function theorem , the angle θz around the Z axis between the coordinate system O _robot- X _robot Y _robot Z _robot and O _bed- X _bed Y _bed Z _bed can be calculated using the following formula:

In another embodiment, when the ranging device includes a first ranging sensor 503 and a second ranging sensor 506, the first vertical distance may also be the minimum distance scanned by the first ranging sensor 503, that is, the first ranging sensor 503. The second vertical distance can also be the minimum distance scanned by the second ranging sensor 506, that is, the length of the vertical line drawn by the second ranging sensor 503 to the side of the operating bed. length, the principle of calculating the angle θz based on the two minimum distances is the same as formula (8) and will not be described again.

Among them, according to the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the surgical robot is determined The controller is configured to:

In the detection data, the distance between the ranging device and the positioning mark 513 and the detection angle of the ranging device are obtained in the same manner as the aforementioned scanning method, and will not be described again.

As shown in Figure 14, when the ranging device includes a first ranging sensor 503 and a second ranging sensor 506, the distance d between the first ranging sensor 503 and the positioning mark 513, and the distance between the second ranging sensor 506 and the positioning mark 513. The distance e between the marks 513 is obtained using the above scanning method. At this time, the detection angle of the positioning mark 513 scanned by the distance measuring device includes the detection angle θ 1 of the first distance sensor 503 corresponding to the distance d and the detection angle θ ₁ of the second distance sensor 506 The detection angle θ ₂ corresponds to the distance e.

Note _that _the coordinates _of _the first ranging sensor ₅₀₃ and _the second ranging sensor 506 in the coordinate system O _robot- is simplified to a _point and it is known that its coordinates _in the coordinate _system O _bed- The position coordinates, that is, the coordinates (x _rb1 , y _rb1 ) of the positioning mark 513 in the coordinate system O _robot- X _robot Y _robot , are expressed as:

According to the above formula (8) and formula (9), the position coordinates (x _ro1 , y _ro1 ) of the coordinate origin O _bed of the operating table's reference coordinate system in the surgical robot's reference coordinate system can be calculated, expressed as:

It should be understood that Figures 13 and 14 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.

Figures 15 and 16 show the implementation of registering the surgical robot and the operating table when the ranging device includes three ranging sensors.

Different from the design shown in Figure 11, the design shown in Figure 15 includes a first ranging sensor 503 and two third ranging sensors 521. The installation structure of the first ranging sensor 503 is the same as that shown in Figure 11 and will not be described again. , the directions of the two third ranging sensors 521 are fixed.

The first ranging sensor 503 and the two third ranging sensors 521 may include laser sensors. Laser sensors usually have ultra-high precision to facilitate accurate ranging. The laser sensors can emit laser beams. When the laser beams are irradiated to the object to be measured, You can measure the distance between the two. The first ranging sensor 503 and the two third ranging sensors 521 may also include infrared sensors, visual sensors, ultrasonic sensors, radar sensors, etc.

Optionally, in order to make it easier for the ranging device to transmit ranging signals, two adjacent surfaces of the surgical robot and the operating bed are provided with ranging devices or receive signals transmitted by the ranging devices. It can be understood that the distance measuring device can also be provided on the top surface of the surgical robot or the operating table support part, or can be provided on the intersection line of the surfaces. This disclosure is not limited to this. As long as the ranging signal can be received by the receiver. The supporting part may include, for example, a base or a supporting column. The surface on which the distance measuring device is set can be called the mounting surface.

The embodiment of the present disclosure provides positioning marks 513 on adjacent surfaces of any one of the surgical robot and the operating bed. For example, if the first ranging device is installed on the surgical robot, then the positioning mark 513 is set on the operating bed; if it is installed on the operating bed, then the positioning mark 513 is set on the surgical robot. The ranging device can identify the positioning mark 513. When the ranging signal emitted by the ranging device is transmitted to the positioning mark 513, the user can be prompted that the corresponding distance measurement value of the ranging device at this time represents the distance between the ranging device and the positioning mark 513. It can be used as the relative position distance between the surgical robot and the operating bed. The prompt to the user may be in any form such as sound, image or message, and this disclosure does not impose specific restrictions.

In the embodiment of the present disclosure, the positioning mark 513 is used to be recognized by the ranging device, so as to obtain the distance measurement value corresponding to the ranging device at this time, so as to calculate the position translation of the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Among them, one of the base coordinate system of the surgical robot and the base coordinate system of the operating table may be called the first coordinate system, and the other may be called the second coordinate system. In order to be easily recognized by the first distance measuring device, after the positioning mark 513 is set on the installation surface of the surgical robot or operating table, there is a height difference between the positioning mark 513 and the installation surface. The mounting surface designation positioning mark 513 is set at the position of the surgical robot or operating table, for example, it can be the upper surface (top surface), the side surface, or the intersection of the two surfaces. Optionally, the positioning mark 513 is a label with a certain thickness, and the label can be pasted or fixed on the installation surface in other ways. Labels can be of a certain width, or they can be narrower, when narrower they can be treated as lines of certain thickness. Alternatively, the mounting surface can also be made into a flat surface with a drop. This intersection can serve as a positioning mark 513. Alternatively, a groove may be provided on the mounting surface. Similarly, the groove may have a certain width or may be relatively narrow. Alternatively, the mounting surface is provided with protrusions. Similarly, the protrusions can have a certain width or can be relatively narrow.

In the embodiment of the present disclosure, two surfaces with different heights are formed by setting positioning marks 513, which can be recognized by the ranging device to obtain the relative position of the surgical robot and the operating table, thereby facilitating the determination of the positional translation of the first coordinate system and the second coordinate system.

Further, the number of positioning marks 513 may be greater than or equal to 1.

If the number of positioning marks 513 is equal to 1, the distance measuring device is driven by the driving device to move. When the distance measuring device recognizes the positioning mark 513, the angle measurement value corresponding to the driving device is obtained, and based on the angle measurement value, the distance measurement device and the location are determined. The angle between the devices to determine the relative posture of the distance measuring device and the positioning mark 513, such as the angle measurement value as the relative posture; and, obtain the distance measurement value corresponding to the distance measurement device, and determine the distance measurement device and the distance measurement value based on the distance measurement value Distance of positioning mark 513.

If the number of positioning marks 513 is greater than 1, the distance measuring device is driven by the driving device to move, identifying at least one of the positioning marks 513, and when the positioning mark 513 is recognized, the angle measurement value corresponding to the driving device and the angle measurement value corresponding to the distance measuring device are The distance measurement value determines the relative attitude of the distance measuring device and the positioning mark 513, and the relative position of the distance measuring device and the positioning mark 513 respectively. For example, if a positioning mark 513 is set, you can select the corresponding angle measurement value and distance measurement value when identifying each positioning mark 513 to determine the position translation, or you can select the corresponding angle measurement value and distance measurement value when identifying part of the positioning mark 513 to determine the position translation. Determine the position translation.

When the number of positioning marks 513 is greater than 1, the installation parameters of the identified positioning marks 513 need to be determined. For example, the corresponding relationship between the installation parameters, angle measurement values and distance measurement values can be determined by identifying them one by one. Or the corresponding measurement values when certain positioning marks 513 are recognized can be ignored, and then the corresponding relationship between the installation parameters, angle measurement values and distance measurement values is determined based on the neglect rules. For example, there are 5 positioning marks 513. If we choose to ignore the measurement values corresponding to the 2nd and 4th positioning marks 513, the corresponding measurement values will be recorded when the 1st, 3rd and 5th positioning marks are identified, and the 1st, 3rd and 5th positioning marks will be obtained. The installation parameters of the third and fifth positioning marks 513 can further determine the positional translation of the first coordinate system and the second coordinate system based on the aforementioned formula. Further, the corresponding relationship with the positioning mark 513 can be determined based on the size of the angle measurement value. For example, the angle measurement value corresponding to the first positioning mark 513 > the angle measurement value corresponding to the third positioning mark 513 > the angle measurement value corresponding to the fifth positioning mark 513 .

Further, after at least one positioning mark 513 is identified, the position translation of the first coordinate system and the second coordinate system corresponding to the positioning mark 513 can be further determined based on the installation parameters, angle measurement values and distance measurement values corresponding to the positioning mark 513 . In order to further improve the accuracy of registration, some data can be discarded, such as obviously unreasonable data, and some data can be retained and the position translation between coordinate systems can be obtained. For example, the position between coordinate systems can be obtained by using the average weighting method. Pan.

By setting multiple positioning marks 513, the embodiment of the present disclosure can improve the probability and efficiency of identifying the positioning marks 513, thereby improving the accuracy of registration.

Obtaining the posture registration relationship between the surgical robot and the operating table includes:

Obtain the first distance between the surgical robot and the operating table measured by the first ranging sensor 503, and the angle between the first ranging sensor 503 measured by the driving device and the device where it is located, which is the first ranging device. The device on which the sensor 503 is installed includes one of a surgical robot and an operating bed. Optionally, the first ranging sensor 503 is driven by the driving device to rotate. Similarly, the angle between the first ranging sensor 503 and the device where it is located can be the angle between the ranging signal emitted by the first ranging sensor 503 and the device where it is located, for example, the ranging signal emitted by the first ranging sensor 503 The signal is related to the installation surface of the first distance sensor 503, the vertical surface of the installation surface, or the horizontal coordinate axis direction of the base coordinate system of the device where it is located. Optionally, during the rotation process, you can choose to record the distance measurement value measured by the first distance sensor 503 and the angle measurement value measured by the driving device at any time, and use the distance measurement value as the distance between the surgical robot and the operating bed. The first distance and angle measurement value is used as the angle between the first distance sensor 503 and the device where it is located.

Obtain the second distance between the surgical robot and the operating bed measured by the third ranging sensor 521.

Obtain the angle between the third ranging sensor 521 and the device where it is located.

The third ranging sensor 521 can also record its installation angle when installed. For example, the angle between the ranging signal emitted by the third ranging sensor 521 and the device where it is located is used as its installation angle. After the installation angle is recorded, it can be stored in the surgical robot system for use. Of course, it can also be stored in other locations, such as servers or clouds, etc.

Or the third distance sensor 521 is also equipped with a driving device. The implementation principle is as follows: the first distance sensor 503 is equipped with a driving device. Therefore, the distance measurement value measured by the third distance sensor 521 and the angle measured by the driving device can also be obtained in real time. Measure the value, and use the distance measurement value as the second distance between the surgical robot and the operating bed measured by the third distance sensor 521, and the angle measurement value as the angle between the third distance sensor 521 and the device where it is located.

The positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained. Similarly, the position relationship can be determined based on the installation parameters.

Based on the first distance, the second distance, the angle between the first distance sensor 503 and the device, the angle between the third distance sensor 521 and the device, and the angle between the first distance sensor 503 and the third distance sensor. The positional relationship between the distance sensors 521 determines the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table.

The embodiment of the present disclosure can flexibly measure the distance measured by the first distance sensor 503 and the third distance sensor 521 and the angle between the first distance sensor 503 and the third distance sensor 521 and the device where they are located. Obtain the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table. Optionally, in order to reduce the angle between the first ranging sensor 503 and the third ranging sensor 521 and the device where they are located, the third ranging sensor 521 can be installed so that the ranging signal it emits is basically perpendicular to where it is located. equipment, and does not need to be equipped with a driving device, obtains the distance measurement value measured by the third distance measurement sensor 521, and uses the distance measurement value as the second distance between the surgical robot and the operating bed; and in the measurement of the first distance measurement sensor 503 When the distance signal is substantially perpendicular to the device, the distance measurement value measured by the first distance sensor 503 is obtained, and the distance measurement value is used as the first distance between the surgical robot and the operating bed. Basically perpendicular to the device where it is located can be understood as basically perpendicular to the installation surface or the horizontal coordinate axis direction of the base coordinate system of the device where it is located.

The positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained.

Based on the first distance, the second distance, and the positional relationship between the first ranging sensor 503 and the third ranging sensor 521, the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined. .

For example, taking the first distance sensor 503 being installed on the surgical robot and the positioning mark 513 being installed on the operating bed, the first distance sensor 503 moves and scans driven by the driving device. When the first distance sensor 503 emits When the ranging signal is perpendicular to the surgical robot, the distance measurement value corresponding to the first ranging sensor 503 is obtained, which is recorded as the first distance e between the surgical robot and the operating bed, as shown in Figure 16 of the surgical robot system provided by an embodiment of the present invention. The registration diagram is shown.

The distance measurement value corresponding to the third ranging sensor 521 is obtained, which is recorded as the second distance f between the surgical robot and the operating bed.

The positional relationship h1 between the first ranging sensor 503 and the third ranging sensor 521 is obtained, where h1 represents the distance between the first ranging sensor 503 and the third ranging sensor 521 .

Further, based on the first distance e and the second distance f, the relative posture θ _z between the surgical robot and the operating table is determined.

The registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined based on the relative posture θ _z . Specifically, the coordinate system transformation principle in the prior art can be used, and this disclosure does not specifically limit this.

For example, take the first ranging sensor 503 being set on the surgical bed and the positioning mark 513 being set on the surgical robot:

In the same way, when the ranging signal emitted by the first ranging sensor 503 is in a direction perpendicular to the operating bed, the distance measurement value corresponding to the first ranging sensor 503 is obtained, which is recorded as the first distance e between the surgical robot and the operating bed. ', as shown in Figure 17, a registration schematic diagram provided by an embodiment of the present disclosure.

The distance measurement value corresponding to the third ranging sensor 521 is obtained, and is recorded as the second distance f′ between the surgical robot and the operating bed.

The positional relationship h1′ between the first distance sensor 503 and the third distance sensor 521 is obtained, and h1′ represents the distance between the first distance sensor 503 and the third distance sensor 521. Further, based on the first distance e′ and the second distance f′, the relative posture θ _z between the surgical robot and the operating table is determined.

In the embodiment of the present disclosure, the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 on the operating bed; and the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 and the third ranging sensor 521 on the operating bed. The relative posture between the surgical robot and the operating table.

The embodiment of the present disclosure obtains the corresponding distance measurement value when the ranging signal 308 emitted by the first ranging sensor 503 and the third ranging sensor 521 is substantially perpendicular to the device, thereby eliminating the need to obtain the first ranging sensor 503 The attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be determined quickly and easily with the angle between the third ranging sensor 521 and the device where it is located.

Optionally, as shown in Figures 15 and 16, the surgical robot is configured with at least two third ranging sensors 521 for ranging, to obtain the distance between the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Posture registration relationships, including:

The second distance between the surgical robot and the operating bed measured by at least two third ranging sensors 521 is obtained, and the third ranging sensor 521 is substantially perpendicular to the device where it is located.

The positional relationship between the two third ranging sensors 521 is obtained.

Based on the positional relationship between the two second distances and the two third ranging sensors 521, the posture registration relationship between the surgical robot and the operating table is determined.

Exemplarily, the second distance between the surgical robot and the operating bed measured by at least two third distance sensors 521 is obtained, which are recorded as f and g respectively.

The positional relationship between the two third distance sensors 521 is obtained. For example, h2 represents the distance between the two third distance sensors 521 .

Further, based on f and g, the relative posture θ _z between the surgical robot and the operating table is determined.

As an example, as shown in Figure 17, the third ranging sensor 521 is set on the operating bed and the positioning mark 513 is set on the surgical robot:

Obtain the second distance between the surgical robot and the operating bed measured by at least two third distance sensors 521, which are recorded as f' and g' respectively.

The positional relationship between the two third distance sensors 521 is obtained. For example, h2′ represents the distance between the two third distance sensors 521 .

Further, based on f′ and g′, the relative posture θ _z between the surgical robot and the operating table is determined.

For the process of setting the first ranging sensor 503 and the two third ranging sensors 521 to perform position registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, please refer to the registration principle of the design shown in Figure 11 , only the detection data of the first ranging sensor is used for registration, which will not be described again here.

In another embodiment of the present disclosure, a linkage mode and a master-slave operation mode are set for the surgical robot. In the linkage mode, the surgical robot can control the drive arm to drive the puncture device to move, so as to link with the movement of the operating table, so as to maintain the relative posture with the operating table; in the master-slave operation mode, the surgical robot controls the drive The arm drives the puncture device to move to complete the surgery.

After determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller can also be configured to:

Obtain the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

In response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the target posture of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, attitude registration relationship, initial posture and movement amount;

Determine the target joint variables of the joints in the drive arm based on the target pose;

The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.

The optional reference coordinate system of the surgical robot includes the base coordinate system of the surgical robot, the adjustment arm end coordinate system, the robotic arm end coordinate system, the coordinate system of the imaging device, the coordinate system of the display device, etc. The reference coordinate system of the operating bed includes the surgical The table coordinate system of the bed, the axial coordinate system of the operating table, the base coordinate system of the operating table, etc., as well as coordinate systems that are parallel to the coordinate axes of the aforementioned coordinate systems but have different origins. The reference coordinate system of the surgical robot may also be called the coordinate system on the surgical robot side, and the reference coordinate system of the operating bed may also be called the coordinate system on the operating bed side. Among them, the position registration relationship and attitude registration relationship can be calculated in real time or pre-calculated and directly called. Among them, the rotation center of the rotational motion of the operating table is the isocenter point, and the isocenter point coordinate system is established based on the isocenter point, which can also be called the aforementioned axial coordinate system of the operating table.

In response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the posture of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:

Based on the position registration relationship and attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained, where the initial pose is the pose relative to the reference coordinate system of the operating bed, for example, the reference coordinates of the operating bed The system selects the table coordinate system of the operating table, the axial coordinate system of the operating table, the base coordinate system of the operating table, and any coordinate system that is parallel to the coordinate axes of the aforementioned coordinate systems but has different origins. For example, the initial pose is the pose in the base coordinate system of the operating bed. It can be understood that the initial pose of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the initial pose of the puncture device in the base coordinate system of the operating bed may not be directly obtained. Instead, the pose in the table coordinate system of the operating table and the axial coordinate system of the operating table are obtained, and then converted into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems.

In response to the movement of the tabletop of the operating table, the movement amount of the tabletop of the operating table is obtained, and based on the position registration relationship, attitude registration relationship, initial posture and movement volume, the target posture of the puncture device in the reference coordinate system of the surgical robot is determined. The amount of movement of the operating table can usually be measured by the amount of movement of the operating table.

Based on the target posture, the joint movement in the driving arm is controlled to maintain the posture of the puncture device relative to the tabletop of the operating table, and the controller is configured to:

In the embodiment of the present disclosure, the puncture device is used as the control object, and the object to obtain the initial pose and target pose can be Optionally, the puncture device can be replaced with a medical device, with the puncture device as the control object and the object for obtaining the initial pose and target pose, or the puncture device and the medical device can be used together, partly as a control object, or partly as an object for obtaining. Objects in initial pose and target pose.

Embodiments of the present disclosure determine the target joint variables of the joints in the drive arm after the surgical table moves by utilizing the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target joint variables according to the target joint The variable control drive arm drives the movement of the puncture device, thereby maintaining the position of the puncture device relative to the operating table table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.

In another implementation, based on the position registration relationship and attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained. The controller may also be configured to:

Step 1: Obtain the initial joint variables of the driving arm. In the embodiment of the present disclosure, the corresponding position of the puncture device before moving the operating table is regarded as the initial position, and the joint variables of the driving arm corresponding to the initial position are regarded as the initial joint variables. Embodiments of the present disclosure obtain initial joint variables through a measurement device provided in the driving arm. Optional measuring devices can be sensors, such as encoders in motors, that measure joint variables.

Step 2: Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system. The initial pose can be freely selected as the base coordinate system of the robot. The options include the base coordinate system of the surgical robot, the coordinate system of the end of the adjustment arm, the coordinate system of the end of the robotic arm, the coordinate system of the imaging device, etc. In the embodiment of the present disclosure, the coordinate system can be flexibly selected to determine the corresponding posture of the puncture device in the reference coordinate system of the surgical robot before the operating table moves.

Optionally, it is safer to adjust the operating table by fine-tuning. During the adjustment of the operating table, it is safer for the surgical robot to adjust the puncture device in real time to keep up with the adjustment of the operating table. Of course, a certain time difference can also be allowed. If the entire adjustment process of the operating table is regarded as a complete adjustment process, then the complete adjustment process contains many small sub-adjustment processes. The corresponding position of the puncture device at the end of each sub-adjustment process is the next sub-adjustment. The initial position of the puncture device corresponding to the beginning of the process.

Step 3: Determine the initial posture of the puncture device in the reference coordinate system of the operating table based on the initial posture of the puncture device and the position registration relationship/attitude registration relationship between coordinate systems.

The optional reference coordinate system of the operating table includes the table coordinate system of the operating table or the axis coordinate system of the operating table, the base coordinate system of the operating table, etc. The registration relationship between coordinate systems refers to the registration relationship between the coordinate system selected on the robot side and the coordinate system selected on the operating bed side. For example, if the coordinate system selected on the robot side is the base coordinate system of the surgical robot and the base coordinate system of the operating table is selected on the operating bed side, the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Registration relationship between base coordinate systems. If the coordinate system selected on the robot side is the base coordinate system of the surgical robot and the table coordinate system of the operating table is selected on the operating table side, the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the table coordinates of the operating table. registration relationship between systems. After determining the position and orientation of the puncture device in the table coordinate system of the operating table, the puncture device can also be positioned on the operating table based on the registration relationship between the table coordinate system of the operating table and the base coordinate system of the operating table as needed. The posture of the table coordinate system is converted into the posture of the puncture device in the base coordinate system of the operating table.

In the embodiment of the present disclosure, the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding initial posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.

Optionally, in response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the position of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, the posture registration relationship, the initial posture and the amount of movement. Target pose, the controller is configured to:

Step 1: Obtain the amount of movement of the tabletop of the operating table. Embodiments of the present disclosure obtain the movement amount of the table top of the operating table through a measurement device provided in the operating table. The movement amount of the operating table may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle. Optionally, the movement amount of the operating table table can be obtained regularly or irregularly. For example, the movement amount of the operating table table can be obtained regularly at intervals T. T can be selected flexibly according to needs. The shorter T is, the higher the control accuracy is, but frequent Obtaining data will also take up more system resources.

Step 2: In response to the movement of the table top of the operating table, based on the initial position of the puncture device in the reference coordinate system of the operating table The posture and the amount of movement of the operating table table determine the target posture of the puncture device in the reference coordinate system of the operating table. This target posture can be called the first posture.

Step 3: Based on the first posture, position registration relationship and attitude registration relationship, determine the target posture of the puncture device in the reference coordinate system of the surgical robot.

Optionally, the second and third steps can be combined into one step to directly determine the position of the puncture device in the reference coordinate system of the surgical robot based on the initial posture, the amount of movement of the operating table table, the position registration relationship, and the posture registration relationship. The target pose eliminates the need to determine the first pose.

Embodiments of the present disclosure determine the target posture of the joints in the drive arm after the operating table moves by utilizing the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target posture according to the target position. The posture control drive arm drives the movement of the puncture device, thereby maintaining the position and posture of the puncture device relative to the tabletop of the operating table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.

In yet another embodiment of the present disclosure, in response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the position of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:

In response to the movement of the table top of the operating table, the first attitude of the puncture device in the reference coordinate system of the operating table is obtained. Among them, the first posture is the posture relative to the reference coordinate system of the operating table. For example, the reference coordinate system of the operating table selects the table coordinate system of the operating table, the axis coordinate system of the operating table, the base coordinate system of the operating table, and the base coordinate system of the operating table. Any coordinate system in which the coordinate axes of the aforementioned coordinate systems are parallel but have different origins. For example, the first posture is the posture in the base coordinate system of the operating bed. It can be understood that the first posture of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the first posture of the puncture device in the base coordinate system of the operating bed may not be directly obtained. The pose of the coordinate system is to obtain the pose in the table coordinate system of the operating table and the axis coordinate system of the operating table, and then convert it into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems. .

Based on the position registration relationship, attitude registration relationship and the first posture, the second posture of the puncture device in the reference coordinate system of the surgical robot is determined. According to the registration relationship and the first posture selected in the previous steps, the coordinate system relative to the second posture and the corresponding posture are determined. For example, the position registration relationship and attitude registration relationship refer to the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table, and the first posture refers to the posture in the base coordinate system of the operating table, Then the second pose of the puncture device in the base coordinate system of the surgical robot can be determined.

According to inverse kinematics, the target joint variables of the joints in the drive arm are determined based on the second pose.

In the embodiment of the present disclosure, the puncture device is used as the control object, and the initial pose and target pose are obtained. Optionally, the puncture device can be replaced with a medical device, the puncture device is used as the control object, and the initial pose is obtained. , the object of the target pose, or the puncture device and medical equipment are used together, partly as a control object, or partly as an object for obtaining the initial pose and target pose.

The movement of the operating table table can include three degrees of freedom: lifting movement direction, horizontal movement direction and rotation movement direction. For most operating beds, individual degrees of freedom are usually adjusted individually, which facilitates more accurate fine-tuning.

Lifting movement direction: The operating bed moves up and down in a vertical direction perpendicular to the ground. At this time, without the control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thereby causing biological risk to human life safety. In order to ensure that the relative posture of the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to perform lifting and lowering movements of the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged. Since the living body is bound to the operating bed, no matter how the operating bed moves, the body's position relative to the operating bed remains unchanged. Therefore, the position and posture of the puncture device relative to the living body remains unchanged, which is equivalent to the position of the puncturing device relative to the operating bed. The pose remains unchanged.

Wherein, the lifting distance of the operating bed in the vertical direction can be measured by a measuring device installed in the operating bed, such as an electric The encoder in the machine can measure the joint variables corresponding to the lifting and lowering of the operating table, thereby determining the corresponding lifting distance.

Among them, the surgical robot system controls the puncture device to perform lifting movements of the same distance. Optionally, combined with the specific conditions of the driving arm, the joint that can change the height of the puncture device is adjusted, such as the lifting column shown in Figure 3. At this time, the surgery can be The robot's other joints lock to hold still. If the specific drive arm structure of the selected surgical robot is different from that shown in Figure 3, it is sufficient to find a joint that can change the height of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.

Horizontal movement direction: The operating table moves horizontally in a horizontal direction parallel to the ground. Similarly, without the control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thus Causing life safety risks to organisms. In order to ensure that the relative posture between the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to move horizontally at the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.

The horizontal movement distance of the operating table along the horizontal direction can be measured by a measuring device provided in the operating table. For example, an encoder in the motor can measure joint variables corresponding to the horizontal movement of the operating table, thereby determining the corresponding horizontal distance.

Wherein, the operating table moves horizontally in a horizontal direction parallel to the ground, which may include horizontal movement along the length of the living body, or horizontal movement in a direction perpendicular to the length of the living body, or along a length direction of the living body. Perform horizontal movement in a certain angle direction.

Among them, the surgical robot system controls the puncture device to move horizontally at the same distance. Optionally, combined with the specific conditions of the drive arm, the joints that can change the horizontal position of the puncture device are adjusted. At this time, other joints of the surgical robot can be locked to remain motionless. . If the specific drive arm configuration of the selected surgical robot is different from that shown in Figure 3 , it is sufficient to find a joint that can change the horizontal position of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.

Direction of rotation: the operating bed moves up and down along the axis. Similarly, if there is no control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thus causing the life of the living body. Security Risk. In order to ensure that the relative posture of the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to rotate at the same angle, and the rotation direction is the same as the rotation direction of the operating table, so as to offset the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.

The rotation angle of the operating bed can be measured by a measuring device installed in the operating bed. For example, an encoder in the motor can measure the rotation angle of the corresponding operating bed.

Among them, the surgical robot system controls the puncture device to rotate at the same angle. Optionally, based on the specific conditions of the drive arm, the joints that can control the rotation of the puncture device are adjusted. At this time, other joints of the robot can be locked to remain motionless. If the specific drive arm structure of the selected robot is different from that shown in Figure 3 , it is sufficient to find a joint that can control the rotation of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.

Optionally, the movement of the operating table may not be a simple independent movement of three degrees of freedom, but may be a combined movement of any two degrees of freedom. In this case, the implementation principle of the single degree of freedom movement is the same as before. The difference includes that the amount of movement is in at least two degrees of freedom. The amount of movement of the table top of the operating table can still be obtained by the measuring device provided in the operating table. , and then adjust the joints of the driving arm in each degree of freedom to control the puncture device to perform equal movements. The specific process will not be described again.

Optionally, the operating bed can be adjusted as a whole or in sections. For example, the operating bed is divided into two parts, the front and the rear. The front or rear parts can be adjusted independently, thereby individually adjusting the body position of the upper or lower body of the organism. The embodiments of the present disclosure do not specifically limit the specific adjustment structure of the operating bed. Embodiments of the present disclosure adjust the joints in the drive arm to control the movement of the puncture device in response to the movement of the table top of the operating table, so as to keep the position of the puncture device unchanged relative to the table top of the operating table, thereby achieving flexible adjustment of the body's posture. , and at the same time ensure the safety of living organisms.

In yet another embodiment of the present disclosure, the controller is configured to:

In response to the movement of the table top of the operating table, obtain the first attitude of the puncture device in the reference coordinate system of the operating table;

Based on the position registration relationship, attitude registration relationship and the first posture, determine the datum position of the puncture device in the surgical robot. The second posture of the standard system;

The joint movement is driven based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table.

Among them, the first attitude of the tabletop of the operating table in the reference coordinate system of the operating table is obtained, and the controller is configured to:

Step 1: Obtain the initial joint variables of the driving arm.

Step 2: Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system.

The implementation principle is as described above to determine the initial posture of the puncture device in the reference coordinate system of the operating table, which will not be described again here. In the embodiment of the present disclosure, the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.

Step 4: Obtain the amount of movement of the operating bed. The amount of movement of the operating table can usually be measured by the amount of movement of the operating table. Embodiments of the present disclosure obtain the movement amount of the operating bed through a measurement device provided in the operating bed. The movement amount of the operating bed may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle. Optionally, the movement amount of the operating bed can be obtained regularly or irregularly. For example, the movement amount of the operating bed can be obtained regularly at intervals T. T can be flexibly selected according to needs. The shorter T, the higher the control accuracy, but frequent data acquisition will also Occupies more system resources.

Step 5: In response to the movement of the tabletop of the operating table, based on the initial posture of the puncture device in the reference coordinate system of the operating table and the amount of movement of the operating table, determine the target posture of the puncture device in the reference coordinate system of the operating table. The target pose can be called the first pose.

Among them, controlling the joint movement of the driving arm based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table includes:

Determine the target joint variables of the joints in the drive arm based on the second pose;

Embodiments of the present disclosure obtain the first posture of the operating table in the reference coordinate system of the operating table by responding to the movement of the operating table, thereby facilitating further adjustment of the joints in the drive arm to control the movement of the puncture device to maintain The position and posture of the puncture device relative to the tabletop of the operating table remains unchanged, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.

The surgical system of this embodiment has the following beneficial effects:

① It can realize the positioning function of the position and attitude between the surgical robot and the electric operating table. On this basis, the application of robot kinematic modeling can realize the position and attitude registration between the puncture device and the reference coordinate system of the operating table. The motion registration of each joint can ultimately realize the linkage technology between the surgical robot and the operating table. During the linkage process, the removal of the puncture device and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body, disassembly and disassembly of the surgical robot at the end are eliminated. The tedious and repeated docking operations such as installing surgical tools and releasing all contact between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve the efficiency of operation implementation. smoothness;

② In the case of using external sensors, a ranging device and positioning mark for posture positioning are designed to achieve complete positioning and posture positioning between the surgical robot and the operating table, so that each moving joint can be actively controlled. There are no uncertain factors such as motion estimation, making the linkage technology between surgical robots and operating beds more reliable and safer in practical applications.

In yet another embodiment, the posture registration information between the surgical robot and the operating bed may be determined in a manner different from that in the above embodiment.

As shown in Figure 18, what is different from the structure shown in Figure 3 is that the surgical system also includes a registration arm 609, and the surgical robot 700 further includes a first connection part 702 for connecting with the registration arm 609. The first connection part 702 can be set during surgery On the motion chassis of Robot 700. The operating table 105 further includes a second connection portion (not labeled in FIG. 18 ) for connecting to the registration arm 609, and the second connection portion may be disposed on the wheeled chassis of the operating table 105.

The present disclosure utilizes the registration arm 609 to achieve registration between the surgical robot 700 and the operating table 105 . The registration arm 609 includes a first end for connecting with the first connecting part 702, a second end for connecting with the second connecting part, and a plurality of joint components connected between the first end and the second end, The first end and the second end can move relative to each other following the movement of the joint component.

The controller is coupled to the surgical robot, the operating table and the registration arm. When determining the posture registration information between the surgical robot and the operating table, the controller is configured to:

determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part by the registration arm;

Based on the first registration relationship, the known second registration relationship between the surgical robot and the first connection part between one of the surgical robot and the operating table, and the second connection between the other operating table of the surgical robot and the operating table. The third known registration relationship between the parts is used to determine the attitude registration information between the surgical robot and the operating table.

Optionally, the controller is also configured to:

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part. The known third registration relationship is used to determine the position registration information between the surgical robot and the operating table.

Wherein, when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position, and the second registration relationship includes the first coordinate system in The posture information and position information in the reference coordinate system of one of the surgical robot and the surgical bed;

When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions. The third registration relationship includes the second coordinate system between the surgical robot and the surgical robot. The posture information and position information in the reference coordinate system of the other operating table.

It can be understood that the registration arm 609 can be used to achieve registration between the first surgical equipment and the second surgical equipment. The following description assumes that the first surgical equipment is a surgical robot and the second surgical equipment is an operating bed.

Among them, when the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609 and the second connection part of the operating bed 105 is connected to the second end of the registration arm 609, it is at the first connection part 702. and the second connection part through the registration arm 609. It should be noted that the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609, and the second connection part of the operating table 105 is connected to the second end of the registration arm 609. It is a fixed connection or a detachable connection. After the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609 and the second connection part of the operating bed 105 is connected to the second end of the registration arm 609, the first end of the registration arm 609 is connected to the first end of the registration arm 609. The registration relationship between the second ends can be determined through a kinematic relationship. Specifically, joint variables of multiple joint components are obtained. The joint variables include relative distances and/or relative angles between the own coordinate systems of multiple joint components, Then based on the joint variables and using forward kinematics, the first registration relationship between the first end and the second end is determined. On this basis, according to the position of the first connecting part 702 on the surgical robot 700 and the position of the second connecting part on the operating bed 105, the second registration between the surgical robot 700 and the first connecting part 702 is performed. The relationship and the third registration relationship between the operating table 105 and the second connection part are all known. Therefore, the relationship between the surgical robot 700 and the second connection part can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. Registration information between operating beds 105 .

To achieve registration, the number of degrees of freedom of movement of the registration arm 609 should be greater than or equal to the degrees of freedom required for positioning and orientation, which are degrees of freedom in Cartesian space, including the degrees of freedom for positioning and orientation.

When the ground is flat, the registration arm 609 only needs three degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating bed 105 . When the ground is flat, the surgical robot 700 and the operating bed 105 have been positioned in the Z-axis direction of the world coordinate system O-XYZ, and have been oriented in the X-axis and Y-axis directions. Therefore, only the two are needed to complete the Z-axis direction. Orientation in the direction and positioning in the X-axis and Y-axis directions. In this case, the registration arm 609 can be designed as shown in The structure shown in 19. At this time, the multiple joint components of the registration arm 609 include a first link 801, a second link 802, a docking device 805 and a joint 806. One end of the first link 801 and one end of the second link 802 can be connected. Rotally connected, the other end of the first link 801 is the first end of the registration arm 609, the docking device 805 is rotatably connected to the other end of the first link 801, the joint 806 is provided on the docking device 805 and is located on the registration arm The first end of 609 is used to connect with the first connecting part 702. The other end of the second link 802 is the second end of the registration arm 609. The first link 801, the second link 802, and the docking device 805 The planes of rotation are parallel or coincident with each other. In this embodiment, the other end of the second connecting rod 802 is provided with a connecting portion 6030 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 . In actual implementation, the connection method between the other end of the second connecting rod 802 and the second connecting part 726 may also be the connection method between the joint 806 and the first connecting part 702 . Therefore, the second link 802 forms a first secondary rotation connection with the second connection portion 726 of the operating table 105, and the second link 802 can perform a rotational motion C1 around the first secondary rotation axis. The first link 801 and the second link 802 form a second rotational connection, and the second link 802 can perform a rotational motion C2 around the second rotational axis. The docking device 805 forms a third rotational pair connection with the first connecting rod 801, and the docking device can perform a rotational motion C3' around the third rotational subsidiary axis. The axes of the first, second and third rotating pairs mentioned above are parallel to each other and perpendicular to the ground. In actual implementation, in order to facilitate the connection between the joint 806 and the first connecting part 702, the joint 806 and the docking device 805 are connected in a rotatable manner.

When the ground is uneven, the registration arm 609 requires six degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating table 105 . In this case, the registration arm 609 can be designed as a structure as shown in FIG. 20 . The multiple joint components of the registration arm 609 include a first link 801, a second link 802, a third link 804, a biaxial joint 803, a docking device 805 and a joint 806. One end of the first link 801 is connected to the second link 804. One end of the connecting rod 802 is rotatably connected through a biaxial joint 803, the docking device 805 is rotatably connected to the other end of the first connecting rod 801, and the joint 806 is rotatably provided on the docking device 805 and is located at the first end of the registration arm 609 end, the other end of the second link 802 and one end of the third link 804 are rotatably connected, and the other end of the third link 804 is the second end of the registration arm 609 . Compared with the structure shown in Figure 19, the biaxial joint 803 limits the rotation planes of the first link 801 and the second link 802 to different directions, increasing two degrees of freedom of movement. The joint 806 is rotatably provided at the docking point. On the device 805, a degree of freedom of movement is added, thereby achieving six degrees of freedom. Therefore, when the ground is uneven, the registration arm 609 can also be adjusted to achieve registration. In this embodiment, a connecting portion 6030 is provided at the other end of the third link 804 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 . In actual implementation, the connection method between the other end of the third link 804 and the second connection part 726 may also be the connection method between the joint 806 and the first connection part 702 .

In the structure shown in FIG. 20 , the third link 804 and the second connecting portion 726 form a first secondary rotation connection, and the third link 804 can perform a rotational motion C1 around the first secondary rotation axis. The third link 804 forms a second rotational connection with the second link 802, and the second link 802 can perform a rotational motion C2 around the second rotational axis. The biaxial joint 803 forms a third rotational pair connection with the second connecting rod 802, and the biaxial joint 803 can perform rotational motion C3 around the third rotational minor axis. The first link 801 and the biaxial joint 803 form a fourth rotational pair connection, and the first link 801 can perform a rotational motion C4 around the fourth rotational pair axis. The docking device 805 forms a fifth rotational pair connection with the first connecting rod 801, and the docking device 805 can perform a rotational motion C5 around the fifth rotational pairing axis. A sixth rotational secondary connection is formed between the joint 806 and the docking device 805, and the joint 806 can perform a rotational motion C6 around the sixth rotational secondary axis. The axes of the first, second and third rotating pairs mentioned above are parallel to each other, the axes of the fourth and fifth rotating pairs are parallel to each other, the axes of the third and fourth rotating pairs are perpendicular to each other, and the axes of the fifth and sixth rotating pairs are perpendicular to each other. The above-mentioned rotational motions of C1, C2 and C4 are used to realize the positioning of the joint 806 in the X, Y and Z axis directions of the world coordinate system O-XYZ, and the rotational motions of C3, C5 and C6 are used to realize the positioning of the joint 806 in the X, Y and Z axes of the world coordinate system O-XYZ. Orientation in the Y and Z axis directions.

Figure 21 shows the matching structure of the first connecting part and the first end of the registration arm, in which (a) is a schematic structural diagram of the first connecting part 702, and (b) is a schematic structural diagram of the joint 806 of the registration arm 609. . The first connecting part 702 includes a first matching part and a first positioning structure. The joint 806 includes a second matching part and a second positioning structure. The first matching part and the second matching part are mated and connected, and the first positioning structure and the second positioning structure When the structures are positioned together, the surgical robot and operating table are connected mechanically and electrically through registration arms. Specifically, the first fitting part is an annular groove, the first positioning structure is a positioning groove 904 provided on one side of the annular groove, the second fitting part is an annular outer wall of the joint 806, and the second positioning structure is provided on the annular outer wall. In addition to the positioning key 906 on the outside, a buckle 907 can also be provided on the joint 806. The buckle 907 is connected to the structure in the annular groove, so that the first connecting part 702 and the joint 806 are not easy to fall off. first connection part 702 A jack 903 is provided, and a pin 905 is provided on the connector 806. The jack 903 and the pin 905 cooperate with each other to achieve electrical connection. When in use, the positioning groove 904 cooperates with the positioning key 906 to determine the relative position between the first connection part 702 and the joint 806. The buckle 907 is connected with the structure in the annular groove to prevent falling off. The pin 905 and the socket 903 docking to achieve mechanical and electrical connections between the surgical robot and the operating table. It can be understood that the structure shown in FIG. 21 can also be a matching structure between the second connecting portion of the operating table and the second end of the registration arm, which will not be described again here. In actual implementation, magnetic attraction can also be used between the first connection part, the second connection part and the registration arm to more quickly realize mechanical connection and electrical connection. For example, at least one end of the detachable connection between the registration arm and Among the connection parts, one adopts a magnetic interface and the other adopts a magnetic plug adapted to the magnetic interface. The magnetic interface and the magnetic plug may have different magnetic poles, or one may have magnetic poles and the other may not but may attract each other.

As shown in Figure 22, when the registration arm 609 is in a folded state, it can be fixed on the operating bed 105. When the surgical robot 700 or the operating bed 105 is in a non-surgical state or does not need to implement the linkage function, the registration arms 609 can be folded and overlapped to reduce the occupied space. At the same time, the registration arm 609 can be prevented from being damaged due to collision with the surrounding environment when the operating bed 105 is moved. As shown in (a) and (b) in Figure 23, the operating bed 105 can be provided with a plurality of second connection parts 706-a, 706-b, 706-c, and 706-d. The second connection parts 726-a and 726 -c is symmetrical about the long side center line of the operating bed 105, and the second connecting parts 726-b and 726-d are symmetrical about the short side center line of the operating bed 105. The connection between the registration arm 609 and the second connection part 706-a, 706-b, 706-c, 706-d can be designed in a connection form that is easy to disassemble and install. During use, the registration arm 609 can be connected to a suitable second connection part as needed, making the use more flexible. It can be understood that multiple first connecting parts 702 can also be provided on the surgical robot 700 to achieve the same effect.

In some embodiments, the joint components of the registration arm 609 may include sensors but not drive components. The movement of these joint components relies on manual adjustment by the user, such as movement by the user dragging, to achieve the connection with the corresponding connection part. Connection. Among them, the sensor can obtain the joint variables of the corresponding joint component.

In some embodiments, the registration arm 609 further includes a control unit and a driving assembly. The control unit is coupled to the controller, and the control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions. Drive components include motors and corresponding encoders. Among them, the pose change command is used to represent the pose that the registration arm 609 needs to move. Under the pose change command, the registration arm 609 is driven by the driving component to the target pose. In the target pose, the registration arm 609 It can be in an unfolded state and is connected to the surgical robot 700, or it can be in any state without being connected to the surgical robot 700, or it can be in a collapsed state. During the process of driving the registration arm 609 by the driving component, the joint variables of the corresponding joint components can be obtained based on the encoder.

In one embodiment, the posture change instruction can be obtained through the user's input using an external input device such as a remote control, a control handle, etc.

In one embodiment, the pose change instruction may be obtained based on the force or torque exerted by the user on the registration arm. The position of the force or torque applied to the registration arm 609 is usually located at a relatively free end of the registration arm 609. For convenience of description, the applied force or torque acts on the free end of the registration arm 609. For example, when the second end of the registration arm 609 is relatively fixed to the operating table, the second end of the registration arm 609 is the fixed end, and the first end of the registration arm 609 is the relatively free end, that is, the free end, which can be controlled remotely by the user. Or drag the free end close to the movement. In order to detect the force or torque exerted by the user, a force or torque sensor capable of detecting force or torque in one or more degrees of freedom of movement can be installed at the free end. For example, a six-dimensional force or torque sensor can be installed to detect each movement. Components of a force or moment on a degree of freedom. Wherein, the controller is coupled to the force or torque sensor and configured to:

Get the current pose of the free end;

Obtain the force or torque detected by the force or torque sensor;

The force or moment is analyzed as the posture increment of the free end;

Obtain the target pose of the free end (relative to the reference coordinate system defined at the fixed end) based on the current pose and pose increment;

The target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose. Among them, with the assistance of the motor, the user can easily adjust, such as dragging the free end of the registration arm, to achieve the target posture, for example, to achieve the desired position with the corresponding connection part. Connected posture.

In one embodiment, when both ends of the registration arm 609 can be freely connected to the first device or the second device, force or torque sensors can be provided at both the first end and the second end of the registration arm 609. The above control The controller can also be configured to:

Determine the free end (and fixed end) in the registration arm;

Get the current pose of the free end (relative to the reference coordinate system defined at the fixed end);

Obtain the force or torque detected by the force or torque sensor at the free end;

The force or moment is analyzed as the posture increment of the free end;

The target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose.

Among them, various methods can be used to determine which end of the registration arm is the free end. For example, manual configuration can be done by the user. For another example, the free end can be determined by sensing the connection status between the two ends of the registration arm and the connecting portion. If it is sensed that the first end of the registration arm is connected to any connecting portion, the first end can be determined to be fixed. end, and then determine the second end as the free end; for another example, if it is sensed that the first end of the registration arm does not form a connection with any connection part, the first end can be determined as the free end. Among them, the connection status can be sensed by using photoelectric sensors, proximity sensors, etc., for example. Wherein, when one end of the registration arm is a fixed end and the other end is a free end, the registration arm can be manually adjusted such as dragging.

Alternatively, the registration arm 609 further includes an angle sensor and/or a displacement sensor. The angle sensor is used to detect relative angle changes between adjacent joint components that can move relative to each other. The displacement sensor is used to detect changes in the relative angle between adjacent joint components that can move relative to each other. The relative position changes between them, thereby obtaining the joint variables of the corresponding joint components.

As mentioned above, after the first connection part of the surgical robot is connected to the first end of the registration arm, and the second connection part of the operating table is connected to the second end of the registration arm, the first end of the registration arm is connected to the second end of the registration arm. The registration relationship between the two ends can be determined through the kinematic relationship. Specifically, the joint variables of multiple joint components are obtained. The joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components, and then Based on the joint variables and utilizing forward kinematics, a first registration relationship between the first end and the second end is determined. On this basis, according to the position of the first connecting part on the surgical robot and the position of the second connecting part on the operating table, the second registration relationship between the surgical robot and the first connecting part, and the operating table The third registration relationship between the surgical robot and the second connection part is all known, so the registration between the surgical robot and the operating table can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. information.

In this embodiment, by establishing a position and attitude relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the registration information between the surgical robot and the operating table is obtained.

The reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot, and the reference coordinate system of the operating table is the reference coordinate system of the operating table. In some embodiments, the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot. In some embodiments, the reference coordinate system of the operating table includes a base coordinate system of the operating table. Please refer to Figure 24, taking the surgical robot as an example. The reference coordinate system of the surgical robot can usually be established on the motion chassis of the bedside robotic arm system, including two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column. , but in actual implementation, the reference coordinate system of the surgical robot does not need to be established on the moving chassis, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis. According to the kinematic coordinate system establishment rules, the first connection part coordinate system is established at the first connection part, the robot arm end coordinate system and the adjustment arm end coordinate system are established at the ends of the robot arm and the adjustment arm, and the control arm end coordinate system is established respectively. The medical device end coordinate system and the telecentric fixed point coordinate system are established. In addition, the joint coordinate system is also established at each moving joint position inside the robotic arm, adjustment arm, and manipulator arm. By applying the coordinate system transformation matrix of the kinematics theory, the transformation relationship between the first connection part coordinate system and the surgical robot's reference coordinate system, and the transformation relationship between the robot end coordinate system and the surgical robot's reference coordinate system can be calculated. , the conversion relationship between the adjustment arm end coordinate system and the robot arm end coordinate system, the conversion relationship between the medical device end coordinate system and the adjustment arm end coordinate system, and the conversion relationship between the telecentric fixed point coordinate system and the adjustment arm end coordinate system According to the coordinate system conversion relationship, the conversion relationship between the coordinate system of the end of the medical device and the reference coordinate system of the surgical robot can be obtained, and then the end position of the medical device in the hand can be determined. The posture situation in the reference coordinate system of the surgical robot, including position and attitude, allows the surgeon's surgical actions on the doctor's main console to be mapped to the surgical instruments to carry out surgical actions. According to the coordinate system conversion relationship, telecentric immobility can be obtained The conversion relationship between the point coordinate system and the reference coordinate system of the surgical robot can then determine the posture information and position information of the puncture device installed at the end of the manipulator arm in the reference coordinate system of the surgical robot, where the position information of the puncture device can be The position of the telecentric fixed point is used for characterization.

Taking the operating table as an example, considering the central symmetry characteristics of the mechanical structure of the operating table and the distribution of each moving joint in the system, the reference coordinate system of the operating table is usually established at the center of the wheeled chassis, including The two coordinate axes are located on the horizontal plane and the coordinate origin is located on the central axis of the wheeled chassis. However, in actual implementation, the reference coordinate system of the operating table does not need to be established at the center of the wheeled chassis. It only needs to be aligned with the coordinates of the wheeled chassis. It is enough that the system has a fixed coordinate transformation relationship. According to the coordinate system establishment rules, the second connection part coordinate system is established at the second connection part, and each joint coordinate system is established at each moving joint in turn. In order to determine the motion information of the patient during the rotation of the operating table, the rotation center of the rotational movement of the operating table is defined as the isocenter point, and the isocenter point coordinate system and the operating table table coordinate system are established. By applying the coordinate system of the kinematics theory The transformation matrix can calculate the transformation relationship between the second connection part coordinate system and the reference coordinate system of the operating table, the transformation relationship between the isocenter coordinate system and the reference coordinate system of the operating table, and the conversion relationship between the table coordinate system and the isocenter. The conversion relationship between point coordinate systems.

After completing the pose registration between the surgical robot and the operating table, the conversion relationship between the first connection part coordinate system and the second connection part coordinate system can be determined, that is, the reference coordinate system of the surgical robot and the reference coordinates of the operating table can be obtained. conversion relationships between systems. Therefore, the kinematic relationship between the coordinate system of the operating table table and the reference coordinate system of the surgical robot can be determined based on the coordinate system transformation relationship. When the medical instrument at the end of the driving arm is inserted into the patient's body through the puncture device, at this time, the telecentric fixed point of the puncture device coincides with the patient's opening position. Without considering the patient's breathing, the patient is bound to the operating bed. The table will always remain relatively stationary with the operating table table. According to the coordinate system conversion relationship, the conversion relationship between the telecentric fixed point coordinate system and the operating table table coordinate system as well as the conversion relationship with the reference coordinate system of the operating table can be determined. On this basis, the position information of the patient's body opening position point in the operating table table coordinate system and the attitude information of the puncture device in the operating table table coordinate system can be determined, that is, it is completed at the patient's body opening position. The position and orientation registration between the puncture device and the reference coordinate system of the operating table is achieved.

In order to achieve the above registration, the present disclosure obtains joint variables of multiple joint components of the registration arm. The joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components. Based on the joint variables and using positive To kinematics, determine the first registration relationship between the first end and the second end, and then obtain the transformation relationship 720 between the first connection part coordinate system and the second connection part coordinate system.

Figures 25 and 26 illustrate the principle of obtaining the registration between the first connection part coordinate system and the second connection part coordinate system. Among them, (a) and (b) in Figure 26 are respectively illustrated from different angles of the registration arm 609. Taking _the registration arm 609 _shown in Figure ₂₀ as an example, a coordinate system O ₇₂₆ _- X ₇₂₆ O ₇₂₆ Y ₇₂₆ coincides with the top surface of the second connecting part 726, the Y ₇₂₆ axis is the horizontal direction and is the long side direction of the operating table, and the X ₇₂₆ axis is the horizontal direction and is the short side direction of the operating table.

Coordinate systems O ₁ -X ₁ Y ₁ Z ₁ and O′ ₁ -′ ₁ Y′ ₁ Z′ ₁ are respectively established at both ends of the third link 804 . Among them, the Z ₁ axis coincides with the Z ₇₂₆ axis, the plane X ₁ O ₁ Y ₁ coincides with the plane X ₇₂₆ O ₇₂₆ Y ₇₂₆ , and the Y ₁ axis is the length direction of the rod. The coordinate system O′ ₁ -X′ ₁ Y′ ₁ Z′ ₁ is obtained by translating the rod length L ₁ along the Y ₁ direction of the coordinate system O ₁ _-X 1 Y ₁ Z _1. The Z′ ₁ axis coincides with the second secondary rotation axis.

Coordinate systems O ₂ -X ₂ Y ₂ Z ₂ and O' ₂ -X' ₂ Y' ₂ Z' ₂ are established on the second link 802. Among them, the Z ₂ axis coincides with the Z′ ₁ axis, the Y ₂ axis is the rod length direction, the plane X ₂ O ₂ Y ₂ coincides with the upper surface of the second connecting rod 802, and the plane X ₂ O ₂ Y ₂ and the plane X′ ₁ O ′ ₁ Y′ ₁ is parallel and distanced by the thickness H ₁ of the second link 802 . O′ ₂ -X′ ₂ Y′ ₂ Z′ ₂ is obtained by translating the rod length L ₂ in the Y ₂ direction of the coordinate system O ₂ -X ₂ Y ₂ Z _2. The Z′ ₂ axis coincides with the third rotational secondary axis.

Coordinate systems O ₃ -X ₃ Y ₃ Z ₃ and O′ ₃ -X′ ₃ Y′ ₃ Z′ ₃ are established on the biaxial joint 803. Among them, the Z ₃ axis coincides with the Z′ ₂ axis, the plane X ₃ O ₃ Y ₃ is parallel to the plane X′ ₂ O′ ₂ Y′ ₂ and the distance is H ₂ , the first axis joint thickness of the biaxial joint 803, and the Y ₃ axis It is perpendicular to the end surface 803a of the biaxial joint 803. The coordinate system O′ ₃ -X′ ₃ Y′ ₃ Z′ ₃ is obtained by the translation of the coordinate system O ₃ _{-X 3} Y ₃ Z _3. The plane X′ ₃ O′ ₃ Y′ ₃ is coplanar with the plane X ₃ O ₃ Y ₃ _, _the X _′ ₃ _- axis is parallel to the The distance L ₃ from the axis to the fourth secondary axis of rotation.

Coordinate systems O ₄ -X ₄ Y ₄ Z ₄ and O' ₄ -X' ₄ Y' ₄ Z' ₄ are respectively established at both ends of the first connecting rod 801. Among them, the Y ₄ axis coincides with the Y′ ₄ axis, the Z ₄ axis is the rod length direction, the plane X ₄ O ₄ Z ₄ coincides with the left surface of the first connecting rod 801, the plane X ₄ O ₄ Z ₄ and the plane X′ ₃ O ′ ₃ Z′ ₃ are parallel and the distance is the sum H ₄ of the thickness of the first connecting rod 801 and the thickness of the second axis joint of the biaxial joint 803 . The coordinate system O′ ₄ -X′ ₄ Y′ ₄ Z′ ₄ is obtained by translating the coordinate system O ₄ -X ₄ Y ₄ Z ₄ along the Z ₄ direction by the length of the rod L _4. The Y′ ₄ axis coincides with the fifth secondary axis of rotation.

Establish coordinate systems O ₅ -X ₅ Y ₅ Z ₅ and O ₆ -X ₆ Y ₆ Z ₆ on the docking device 805. Among them, the Y ₅ axis coincides with the Y′ ₄ axis, the plane X ₅ O ₅ Z ₅ coincides with the end surface 805 a of the docking device 805 , and the Z ₅ axis is the rod length direction of the first connecting rod 801 . The coordinate system O ₆ -X ₆ Y ₆ Z ₆ is established at the center of the joint 806 and can be obtained by translating the coordinate system O ₅ -X ₅ Y ₅ Z ₅ and rotating around the Z ₅ axis. The Y ₆ axis is parallel to the Y ₅ axis and the distance is The distance L ₅ from the center of the joint 806 to the fifth secondary axis of rotation, the Z ₆ axis is parallel to the Z ₅ axis, and the distance is H ₆ from the center of the joint 806 to the end surface 805a.

Establish a coordinate system O ₇₀₂ -X ₇₀₂ Y ₇₀₂ Z ₇₀₂ at the center of the first connection part 702. The Z ₇₀₂ axis is perpendicular to the horizontal ground, the X ₇₀₂ axis is the long side direction of the surgical robot, and the Y ₇₀₂ axis is the short side of the surgical robot. direction.

After the registration arm 609 is successfully connected to the surgical robot and operating table, the angle sensors at the first, second, third, fourth, fifth and sixth rotating pairs can measure the Y ₇₂₆ axis and Y ₁ axis, Y′ ₁ axis and Y _2- axis, Y′ _2- axis and Y _3- axis, Z _4- axis and Z′ _3- axis, Z _5- axis and Z′ _4- axis, X _5- axis and X ₆ -axis angles θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ and θ ₆ . The pose description of coordinate system O ₆ -X ₆ Y ₆ Z ₆ relative to coordinate system O ₇₂₆ -X ₇₂₆ Y ₇₂₆ Z ₇₂₆ can be obtained through the following coordinate system transformation:

At the same time, since the registration arm 609 is successfully connected to the surgical robot 700, the coordinate system O ₆ -X ₆ Y ₆ Z ₆ coincides with O ₇₀₂ -X ₇₀₂ Y ₇₀₂ Z ₇₀₂ . Among them, the X ₆ axis coincides with the Z ₇₀₂ axis, and the Z ₆ axis coincides with the Y ₇₀₂ axis. Therefore, the pose description of the coordinate system O ₇₀₂ -X ₇₀₂ Y ₇₀₂ Z ₇₀₂ relative to the coordinate system O ₆ -X ₆ Y ₆ Z ₆ can be obtained through the following coordinate system transformation:

Combining formula (1) and formula (2), the position of the coordinate system O ₇₀₂ -X ₇₀₂ Y 702 Z ₇₀₂ of the first connection part relative to the coordinate system O ₇₂₆ _{-X 726} _Y ₇₂₆ Z ₇₂₆ of the second connection part can be obtained Posture description:

Finally, according to the above formula (3), the posture positioning between the coordinate system O ₇₀₂ -X ₇₀₂ Y ₇₀₂ Z ₇₀₂ of the first connection part and the coordinate system O ₇₂₆ -X ₇₂₆ Y ₇₂₆ Z ₇₂₆ of the second connection part can be realized .

On the basis of the above, please refer to Figure 27. The relative poses of the coordinate system 92 of the first connection part and the coordinate system 90 of the second connection part are known. The coordinate system 92 of the first connection part is in the reference coordinate system of the surgical robot. When the pose in 43 is known, and the coordinate system 91 of the second connection part is known in the reference coordinate system 90 of the operating table, the reference coordinate system of the surgical robot and the reference coordinate of the operating table can be realized. alignment between systems.

By determining the pose registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the present disclosure can complete the pose registration between the puncture device and the reference coordinate system of the operating table at the opening position of the patient's body. Accurate, thereby making it easier to control the linkage between the surgical robot and the operating bed.

The registration arm in this embodiment is not only used to realize the registration of the surgical robot and the operating table, but is also used to realize the electrical connection between the surgical robot and the operating table. In some embodiments, the registration arm is configured to transmit or relay at least one of the following data via the electrical connection:

Movement information of surgical robot;

Operating table movement information;

Movement information of the registration arm;

Instructions for controlling surgical robots and/or operating tables;

The results of the execution of instructions by the surgical robot and/or operating table;

The execution result of the linkage between the surgical robot and the operating table.

In addition, the surgical robot and/or operating table can also provide power to the registration arm through electrical connections, eliminating the need to configure an additional power module on the registration arm and making the structure simpler. Moreover, the surgical robot and the operating table are electrically connected through the registration arm, which can realize one-way or two-way power supply between the surgical robot and the operating table. For example, an external power supply can be connected to the surgical robot to power it, and then through the registration arm Then power is supplied to the operating table; for another example, the surgical robot and/or the operating table are equipped with an auxiliary power supply such as a UPS, which can provide power between the surgical robot and the operating table through the registration arm when the external power supply cannot provide power.

In order to optimize the electrical connection structure and computing power between the surgical robot, operating table, and registration arm. The controller of the surgical system may include a first control unit, a second control unit, and a third control unit. The third control unit is connected to the first control unit and the second control unit. The first control unit is provided on the surgical robot, and the second control unit It is installed on the operating table, and the third control unit is installed on the registration arm. Alternatively, the controller of the surgical system may include a first control unit and a second control unit, the first control unit is provided on the surgical robot, the second control unit is provided on the operating table, the first control unit or the second control unit and the registration arm Electrical connections. Through different control units of the controller, control and data processing for corresponding parts of the surgical system can be performed, and when implementing the registration method and subsequent linkage logic of the present disclosure, different control units of the controller can also undertake corresponding calculations. power, improve computing power, reduce the computing pressure on a single control unit, and make the computing process more reliable.

Figures 28 to 31 illustrate different electrical connection structures between the surgical robot and the operating table. As shown in Figure 28, the surgical robot 700 includes a first control unit 606, a first motor 6021 and a first encoder 6022. Taking the surgical robot 700 as an example, the first motor 6021 can be used to drive a lifting column, a robotic arm, and an adjustment device. The first encoder 6022 converts the motion information of the first motor 6021 into the position information of the joint components that drive the lifting column, the mechanical arm, the adjustment arm, the control arm, etc. and sends it to the first control unit 606 . The registration arm 609 is provided on the operating bed 105. The registration arm 609 is provided with a sensor 6091. The operating bed 105 includes a second control unit 607, a second encoder 6032, a second motor 6031 and a second operating control 6033. The sensor 6091 and The second control unit 607 transmits data through the transmission paths 617 and 618, so that the second control unit 607 can obtain the detection data of the sensor 6091, and supply power to the sensor 6091 or send control instructions. The second operation control 6033 is, for example, a remote control. The user inputs a user operation to the second operation control 6033 to generate a user instruction for controlling the operating bed 105 . Through the transmission path 616, relevant data such as the movement information of the surgical robot 700, the movement information of the operating table 105, the movement information of the registration arm 609, the execution results of the linkage between the surgical robot 700 and the operating table 105 can be transmitted. The registration arm 609 is considered to be used only as a communication cable.

As shown in Figure 29, what is different from the structure shown in Figure 28 is that the user operation is input through the first operation control 6023 provided on the surgical robot 700 to generate user instructions for controlling the surgical robot 700 and/or the operating bed 105. Therefore, the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and in this case, the registration arm 609 can be regarded as Use only as a communication cable.

As shown in Figure 30, what is different from the structure shown in Figure 28 is that the registration arm 609 includes a third control unit 6091, a third motor 1092 and a third encoder 1093. The third control unit 6091 and the second control unit 607 pass The transmission paths 617 and 618 perform data transmission, so that the second control unit 607 can power the sensor 6091 or send control instructions, and obtain the results of the instruction execution by the third control unit 6091. Data transmission is performed between the third control unit 6091 and the first control unit 606 through the transmission path 616'. The motion information of the surgical robot 700, the motion information of the surgical bed 105, the execution results of the linkage between the surgical robot 700 and the surgical bed 105 and other related data can be transmitted through the transmission paths 617 and 618. The surgical robot can be transmitted through the transmission path 616'. 700 motion information, the motion information of the operating bed 105, the motion information of the registration arm 609, the execution results of the linkage between the surgical robot 700 and the operating bed 105 and other related data. That is to say, the third control unit 6091 receives After the data of the surgical robot 700 is forwarded, in addition to forwarding the data of the surgical robot 700, the movement information of the registration arm 609 is also added to the data. At this time, the registration arm 609 can be considered to be used as a communication transfer station. The transmission path 616 includes Communication path 617 and transmission path 616'.

As shown in Figure 31, what is different from the structure shown in Figure 30 is that the user operation is input through the first operation control 6023 provided on the surgical robot 700 to generate user instructions for controlling the surgical robot 700 and/or the operating bed 105. Therefore, the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and the registration arm 609 still serves as the Used by the communication relay station, the transmission path 616 includes a transmission path 617 and a transmission path 616'.

It should be understood that, different from the above electrical structure, the registration arm 609 can also be provided on the surgical robot 700. In this case, the registration arm 609 can adopt the structure as shown in Figure 28 or Figure 29. The specific working process is as follows. The structure shown in Figure 28 or Figure 29 is similar and will not be described again. Through the above electrical connection structure, the wiring of the surgical system can be neat and the connection is convenient. Moreover, through wired communication, the anti-interference ability is improved and the signal transmission is more reliable.

The surgical system of the present disclosure has the following beneficial effects:

① Able to realize the posture positioning function between surgical equipment and realize the linkage technology between surgical equipment. During the linkage process, the removal of puncture device and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body is eliminated. The tedious and repeated docking operations such as disassembling and installing surgical tools at the end of the robot, and releasing all contact between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve Improve the smoothness of the operation;

② Registration between surgical equipment can be more easily achieved through mechanical connection (registration arm). At the same time, this registration is complete registration (position and attitude are both completed), rather than partial registration (only attitude). or position only), and such registration accuracy will be higher. In addition, this technology does not have uncertain factors such as motion estimation, making the linkage technology of surgical systems more reliable and safer in practical applications.

The present disclosure also provides a control method for a surgical system. The surgical system includes an operating bed and a surgical robot. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used for insertion. Located within the body opening of the organism on the table top of the operating table. Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment. As shown in Figure 32, the control methods include:

Step S1: Obtain posture registration information between the surgical robot and the operating table;

Step S2, in response to the movement of the table top of the operating table in the posture degree of freedom, obtain the movement information of the table top of the operating table in the posture degree of freedom;

Step S3: Determine the target joint amount of the first joint among the plurality of joints based on the motion information and attitude registration information, and control the movement of the first joint according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom. .

In one embodiment, step S1 obtains posture registration information between the surgical robot and the operating table, including:

Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom to allow the actuation arm, through the first joint, to track the body based on a force exerted by a body wall of the patient's body opening Movement of the opening in translational degrees of freedom;

In one embodiment, the method further includes:

In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include two-dimensional horizontal coordinate systems, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other; first The posture registration information is characterized by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and the second posture registration information is characterized by the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The second rotation angle value on the horizontal plane between the coordinate systems is characterized;

Determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information includes:

In one embodiment, one of the surgical robot and the operating table is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, and the third horizontal coordinate axis of the reference coordinate system of the operating table are located. The horizontal plane where the first horizontal coordinate axis is located, the second horizontal coordinate axis and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other;

Step S1 obtains posture registration information between the surgical robot and the operating table, including:

In one embodiment, when the ranging device includes a ranging sensor, the first vertical distance is the minimum distance detected by the ranging sensor, and the second vertical distance is the distance detected by the ranging sensor from a horizontal direction perpendicular to the installation position; or,

When the ranging device includes a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the minimum distance detected by the first ranging sensor, The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance The distance the sensor detects from the horizontal direction perpendicular to the installation location.

In one embodiment, the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the ranging device, and the detection data also includes the distance between the ranging device and the positioning mark, and the detection angle of the ranging device, Methods also include:

In one embodiment, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, including:

In one embodiment, one of the surgical robot and the operating bed includes a first connecting part, and the other one of the surgical robot and the operating bed includes a second connecting part; the registration arm includes a third connecting part for connecting with the first connecting part. One end, a second end for connecting with the second connecting part, and a plurality of joint components connected between the first end and the second end;

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part. The known third registration relationship is used to determine the posture registration information between the surgical robot and the operating table.

In one embodiment, the method further includes:

In one embodiment, when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position, and the second registration relationship includes the first The posture information and position information of the coordinate system in the reference coordinate system of one of the surgical robot and the operating table;

When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions. The third registration relationship includes the second coordinate system between the surgical robot and the surgical robot. Attitude information and position information in the other reference coordinate system of the operating table.

In one embodiment, the registration arm is configured to align the reference coordinate system of one of the surgical robot and the operating table and the reference coordinate system of the other of the surgical robot and the operating table in the direction of the vertical coordinate axis in Cartesian space. 3 degrees of freedom of movement for orientation and positioning in the direction of the horizontal axis, or 6 degrees of freedom of movement for positioning and orientation of the registration arm in Cartesian space.

In one embodiment, the joint component includes a sensor for sensing joint variables of the joint component, and the method includes:

Obtain joint variables of multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between the own coordinate systems of the multiple joint components;

In one embodiment, the registration arm further includes a control unit and a driving assembly. The control unit is coupled to the controller. The control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions.

In one embodiment, the controller includes a first control unit, a second control unit and a third control unit. The third control unit is connected to the first control unit and the second control unit. The first control unit is disposed between the surgical robot and the operating bed. One of them, the second control unit is provided on the other of the surgical robot and the operating table, and the third control unit is provided on the registration arm;

Alternatively, the controller includes a first control unit and a second control unit. The first control unit is provided on one of the surgical robot and the operating bed. The second control unit is provided on the other of the surgical robot and the operating bed. The first control unit The unit or the second control unit is electrically connected to the registration arm.

In one embodiment, the method further includes:

In response to movement of the operating table table in the posture degrees of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the actuation arm through the target joint based on a force exerted by a body wall at the patient's body opening to track the location of body openings.

In one embodiment, the method further includes:

The implementation process of the above steps is the same as the working process of the controller in the aforementioned surgical system, and will not be described again.

The present disclosure also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the control method of the surgical system as described in the above embodiments are implemented.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

Each technical feature of the above-described embodiments and the combination between any technical features are universal, and are applicable not only to single-hole surgical robots, but also to multi-hole surgical robots, and they will neither affect nor limit the use of Used in robotic arms of different configurations.

The above-described embodiments only express several implementation modes of the present disclosure, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the patent disclosed should be determined by the appended claims.

Claims

A surgical system, including:

operating table;

Surgical robot, the surgical robot includes a driving arm with a plurality of joints, the distal end of the driving arm is equipped with a puncture device, the puncture device is used to insert into the body opening of the living body located on the table of the operating table. ;

A controller, coupled to the surgical table and the surgical robot, is configured for:

Obtain posture registration information between the surgical robot and the operating table;

In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;

A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the posture registration information, and the motion of the first joint is controlled according to the target joint amount to maintain the desired degree of freedom in the posture. The posture of the puncture device relative to the tabletop of the operating table.
The surgical system of claim 1, wherein when determining posture registration information between the surgical robot and the operating table, the controller is configured to:

Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom, to allow the drive arm to be driven by the first joint based on the motion of the patient. The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;

In response to the translational movement of the operating table table in the translational degree of freedom,

In the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, a first position of the puncture device at a first moment is acquired, and a position of the puncture device adjacent to the second position at the second moment of the first moment;

Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.
The surgical system of claim 2, wherein the controller is further configured to:

Obtaining a third position of the puncture device at a third time adjacent to the second time while the first joint passively performs tracking the movement of the body opening in the translational degree of freedom;

determining second attitude registration information between the surgical robot and the operating table based on the second position and the third position;

When the first posture registration information and the second posture registration information satisfy a preset condition, the determination is based on one or more of the first posture registration information and the second posture registration information. Third posture registration information between the surgical robot and the operating bed.
The surgical system according to claim 3, wherein the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located is in contact with the surgical bed. The horizontal planes where the bed's base is located are parallel to or coincident with each other; the first attitude registration information adopts the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. For characterization, the second posture registration information is characterized by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

When determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information, the controller further Configured for:

Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;

If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value is used as the third posture registration information. The average value of the first rotation angle value and the second rotation angle value is used as the third posture registration information.
The surgical system according to claim 1, wherein one of the surgical robot and the operating bed is provided with a distance measuring device, and the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are The horizontal plane where the axis is located, the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the operating table are located, and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other;

When determining posture registration information between the surgical robot and the operating table, the controller is configured to:

Obtain detection data of the ranging device, the detection data including the first vertical distance and the second vertical distance between the surgical robot and the operating table;

According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
The surgical system according to claim 5, wherein when the ranging device includes a ranging sensor, the first vertical distance is the minimum distance detected by the ranging sensor, and the second vertical distance is the minimum distance detected by the ranging sensor. The distance detected by the distance sensor from the horizontal direction perpendicular to the installation position; or,

When the distance measuring device includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor and the second distance measuring sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the first distance measuring sensor. The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance from the first distance sensor perpendicular to the installation position. The distance detected in the horizontal direction, the second vertical distance is the distance detected by the second ranging sensor from the horizontal direction perpendicular to the installation position.
The surgical system according to claim 5, wherein the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the distance measuring device, and the detection data further includes the detection range. The distance between the distance device and the positioning mark, the detection angle of the distance measuring device, the controller is also configured to:

Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
The surgical system according to claim 7, wherein the reference coordinate system of the surgical robot and the position coordinates of the operating bed are determined based on the detection data, the position coordinates of the distance measuring device and the position coordinates of the positioning mark. When obtaining position registration information between reference coordinate systems, the controller is configured for:

Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

According to the distance between the distance measuring device and the positioning mark, the detection angle at which the distance measuring device detects the positioning mark, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine The position coordinates of the positioning mark in the reference coordinate system of the equipment on which the distance measuring device is installed;

According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment installed on the ranging device, the The position coordinates of the positioning mark in the reference coordinate system of the device determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed.
The surgical system according to claim 1, wherein one of the surgical robot and the operating bed includes a first connection part, and the other one of the surgical robot and the operating bed includes a second connection part; The registration arm includes a first end used for connecting with the first connecting part, a second end used for connecting with the second connecting part, and a connection between the first end and the second end. Multiple joint components between;

The controller is coupled to the registration arm, and when determining posture registration information between the surgical robot and the operating table, the controller is configured to:

determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the posture registration information between the surgical robot and the operating table.
The surgical system of claim 9, wherein the controller is further configured to:

determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;

Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the position registration information between the surgical robot and the operating bed.
The surgical system according to claim 10, wherein when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have preset values. The relative posture and relative position, the second registration relationship includes the posture information and position information of the first coordinate system in the reference coordinate system of one of the surgical robot and the operating bed;

When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have a preset relative posture and relative position, and the third registration The relationship includes attitude information and position information of the second coordinate system in the other reference coordinate system of the surgical robot and the operating bed.
The surgical system according to claim 10, wherein the registration arm is provided with a reference coordinate system for one of the surgical robot and the surgical bed and a reference coordinate system for the other one of the surgical robot and the surgical bed. There are three degrees of freedom of movement between the reference coordinate system in the Cartesian space for orientation in the direction of the vertical coordinate axis and positioning in the direction of the horizontal coordinate axis, or the registration arm is equipped with the ability to position in the Cartesian space and 6 degrees of freedom of movement in orientation.
The surgical system of claim 10, wherein the joint assembly includes a sensor for sensing joint variables of the joint assembly, and the controller is coupled to the sensor and configured to:

Obtain joint variables of the multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between self-coordinate systems of the multiple joint components;

Based on the joint variables and utilizing forward kinematics, first registration information between the first end and the second end is determined.
The surgical system according to claim 9, wherein the registration arm further includes a control unit and a driving assembly, the control unit is coupled to the controller, and the control unit is configured to, according to the posture The change command controls the driving component to drive the joint component to move.
The surgical system according to claim 9, wherein a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
The surgical system according to claim 9, wherein the controller includes a first control unit, a second control unit and a third control unit, the third control unit connects the first control unit and the second control unit. A control unit, the first control unit is provided on one of the surgical robot and the operating bed, the second control unit is provided on the other of the surgical robot and the operating bed, and the third control unit is provided on the other of the surgical robot and the operating bed. Three control units are provided on the registration arm;

Alternatively, the controller includes a first control unit and a second control unit. The first control unit is disposed on one of the surgical robot and the surgical bed. The second control unit is disposed on the surgical bed. The robot is electrically connected to the other one of the operating table, and the first control unit or the second control unit is electrically connected to the registration arm.
The surgical system according to any one of claims 1 to 16, wherein the controller is further configured to:

In response to the movement of the tabletop of the operating table in the attitude degree of freedom, controlling a target joint associated with positional degree of freedom adjustment among the plurality of joints to allow the drive arm to move through the target joint based on the movement of the patient The force exerted by the body wall at the body opening tracks the position of the body opening.
The surgical system according to any one of claims 7 or 10, wherein the controller is further configured to:

Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;

In response to the movement of the tabletop of the operating table, the amount of movement of the tabletop of the operating table is obtained, and based on the position registration relationship, the attitude registration relationship, the initial posture and the amount of movement, the determination of the The target pose of the puncture device in the reference coordinate system of the surgical robot;

Determine target joint variables of the joints in the drive arm based on the target pose;

The joint motion is driven according to the target joint variable to maintain the posture of the puncture device relative to the table top of the operating table.
A control method for a surgical system, wherein the surgical system includes an operating bed and a surgical robot, the surgical robot includes a driving arm with multiple joints, a puncture device is installed on the distal end of the driving arm, and the puncture device The device is used for inserting into the body opening of a living body located on the tabletop of an operating table, and the control method includes:

Obtain posture registration information between the surgical robot and the operating table;

In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;

A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude. The posture of the puncture device relative to the tabletop of the operating table.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the surgical system as claimed in claim 19 are implemented.