CN116407298A - Alignment activation method and device for surgical robot and surgical robot - Google Patents

Abstract

The invention provides an alignment activation method and device of a surgical robot, and a surgical robot. The method includes: determining the target alignment activation mode from the alignment activation modes according to the type of instrument installed from the operating device; acquiring the target alignment activation mode An associated operation instruction; in response to the operation instruction being triggered, the posture of the operating part is aligned with the posture of the end effector of the instrument. The embodiment of the present invention provides a variety of alignment activation methods, and an appropriate alignment activation method can be selected according to the type of instrument installed on the operating device. Misoperation occurs during activation, improving the safety and efficiency of the activation process.

Description

Alignment activation method and device for surgical robot and surgical robot

technical field

The present invention relates to the technical field of surgical robots, in particular to an alignment activation method and device for a surgical robot and a surgical robot.

Background technique

A surgical robot usually includes a main operating console and a secondary operating device. The primary operating console includes a display and an operating rod. The secondary operating device includes a plurality of operating arms, and the operating arm has a terminal instrument. In the working state, the doctor controls the operating rod to send control commands to the slave operating device, and the end instruments follow the operating rod to realize remote surgical operation.

When the terminal device located in the body is ready to start and enter the working state (including initial activation or switching of the terminal device), the posture of the terminal device usually deviates from the posture of the clamp. cause damage. Therefore, it is necessary to perform master-slave alignment, reduce the posture deviation between the end instrument and the operating rod to meet the alignment conditions, and then start the end instrument to enter the following state.

Surgical robots usually perform an activation step before performing master-slave alignment, and then perform a master-slave alignment process after activation. The existing activation method has problems with terminal device misoperation, such as loosening of the grasper and dropping of needles during activation.

Contents of the invention

The invention solves the problem of misoperation of terminal equipment in the activation mode of the existing mobile phone robot.

In order to solve the above problems, an embodiment of the present invention provides a method for aligning and activating a surgical robot, the surgical robot includes an operating part and a slave operating device, and the method includes: according to the type of instrument installed on the slave operating device, starting from the pair Determine the target alignment activation mode in the position activation mode; obtain the operation instruction associated with the target alignment activation mode; respond to the operation instruction being triggered, compare the posture of the operating part with the end effector of the instrument Posture alignment.

Optionally, the alignment activation method includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation; according to the type of instrument installed from the operating device Determining the target alignment activation method from the alignment activation method includes: if the type of the instrument installed from the operating device is an opening and closing type, determining that the target alignment activation method is the rotation alignment activation or push alignment activation ; If the type of the device installed from the operating device is non-opening and closing, determine that the target alignment activation method is the double-click alignment activation or the fingerprint identification alignment activation.

Optionally, the operation part includes at least one rotatable part, and the rotatable part has a mapping control relationship with the target joint of the slave operation device; if it is determined that the rotation alignment is activated, the response to the operation The instruction is triggered, including: sending a fixed position value to the target joint of the slave operating device; obtaining an instruction input by the user through the rotatable component for controlling the rotation of the target joint, and sending the instruction to the Target joint; collect the current position value and current value of the motor of the target joint; if the current value is greater than the preset current threshold, and/or, the difference between the current position value and the fixed position value is greater than the preset If the movement difference threshold is exceeded, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one pushable part, and the pushable part has a mapping control relationship with the target joint of the slave operation device; if it is determined that the push alignment is activated, the response to the operation The instruction is triggered, including: sending a fixed position value to the target joint of the slave operating device; obtaining an instruction input by the user through the pushable component for controlling the pushing of the target joint, and sending the instruction to the Target joint; collect the current position value and current value of the motor of the target joint; if the current value is greater than the preset current threshold, and/or, the difference between the current position value and the fixed position value is greater than the preset If the movement difference threshold is exceeded, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes at least one fixture, and the fixture has a mapping control relationship with the target joint of the slave operation device; if it is determined that the alignment is activated by double-clicking, the response to the operation instruction is triggered, Including: obtaining the first action instruction and the second action instruction sequentially input by the user through the clamp; the first action instruction is associated with a pinching action, the second action instruction is associated with a release action, or the second action instruction is associated with The kneading action and the first action instruction are associated with the release action; if the instrument installed from the operating device is executed in response to the first action instruction and the second action instruction, continue to obtain user input through the clamp the first action instruction; if the instrument installed from the operating device is executed again in response to the first action instruction, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation part includes a fingerprint recognition component. If the fingerprint recognition alignment activation is selected, the response to the operation instruction is triggered, including: acquiring the fingerprint information and pressure value collected by the fingerprint recognition component; if If the fingerprint information matches the pre-stored legitimate fingerprint information, and the pressure value is greater than a preset pressure threshold, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, before determining the target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operating device, the method further includes: reading information of the instrument installed from the operating device , to obtain the type of the instrument; and/or, to identify the image captured by the image acquisition device including the instrument installed from the operating device, to obtain the type of the instrument.

Optionally, the aligning the posture of the operating part with the posture of the end effector of the instrument includes: performing an automatic alignment process between the operating part and the slave operating device; Afterwards, an active following process in which the slave operating device actively follows the operating unit is executed.

Optionally, if rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation are selected, the execution of the automatic alignment process between the operation part and the slave operation device includes: The first opening and closing angle of the instrument is used to calculate the second opening and closing angle of the clip of the operation part; and the opening and closing of the clip is controlled to the second opening and closing angle.

Optionally, if the double-click alignment activation is selected, the execution of the automatic alignment process of the operation part and the slave operation device includes: calculating the slave operation device according to the second opening and closing angle of the clamp of the operation part The first opening and closing angle of the installed instrument; controlling the opening and closing of the instrument installed from the operating device to the first opening and closing angle.

Optionally, the calculating the second opening and closing angle of the clamp of the operating part according to the first opening and closing angle of the instrument installed from the operating device includes: acquiring the current actual posture of the instrument installed from the operating device , transforming the current actual posture coordinates into the target posture of the clamp of the operating part, decomposing the target posture inversely to obtain the target joint position of the clamp; the controlling the clamp to open to the second opening The joint angle includes: sending the target joint position to the clamp, so that the clamp moves to the target joint position; obtaining the current joint position of the clamp, and calculating the current joint position forward to obtain the clamp the current posture of the fixture; converting the current posture coordinates of the fixture into the current posture for verification of the slave operating device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed on the slave operation device; If the deviation is less than or equal to a preset deviation threshold, it is determined that the clamp has opened to the second opening and closing angle.

Optionally, the performing the active following process of the slave operating device actively following the operating unit includes: acquiring the current posture of the operating unit after being controlled by the user; converting the current posture coordinates into the slave operating device installation target posture of the instrument; decompose the target posture to obtain the target joint position of the instrument installed from the operating device; control the movement of the instrument installed from the operating device to the target joint position.

Optionally, before determining the target alignment activation mode from the alignment activation modes according to the type of the instrument installed on the slave operation device, the method further includes: judging whether the main operation console is allowed to interact with the operation If at least one of the following conditions is met, it is determined that the alignment activation is allowed; the conditions include obtaining the trigger of the head sensor signal, the communication between the master console and the slave operating equipment is normal, the Slave operating devices allow triggering of alignment signals.

An embodiment of the present invention provides an alignment activation device for a surgical robot. The surgical robot includes an operating unit and a slave operating device. The device includes: an activation mode selection module for Determine the target alignment activation mode from the alignment activation mode; the operation instruction acquisition module is used to obtain the operation instruction associated with the target alignment activation mode; the alignment execution module is used to respond to the operation instruction being triggered, then The posture of the operation part is aligned with the posture of the end effector of the instrument.

An embodiment of the present invention provides a surgical robot, including: an operating unit; a slave operating device; and a controller, the controller is coupled to the operating unit and the slave operating device, and is configured to perform the above operation Alignment activation method for the robot.

An embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is configured to be loaded and executed by a processor to implement the alignment activation method for a surgical robot described above.

The embodiment of the present invention provides a variety of alignment activation methods, and an appropriate alignment activation method can be selected according to the type of instrument installed on the operating device. Misoperation occurs during activation, improving the safety and efficiency of the activation process.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the schematic diagram of a kind of main console in the embodiment of the present invention;

Fig. 2 is a schematic diagram of the main wrist of an operating part in an embodiment of the present invention;

Fig. 3 is a schematic diagram of a slave operating device in an embodiment of the present invention;

FIG. 4 is a schematic diagram of another slave operating device in an embodiment of the present invention;

Fig. 5 is a schematic flowchart of an alignment activation method of a surgical robot in an embodiment of the present invention;

Fig. 6 is a schematic flow chart of the rotational alignment activation method in the embodiment of the present invention;

Fig. 7 is a schematic flow chart of the push alignment activation mode in the embodiment of the present invention;

FIG. 8 is a schematic flowchart of a double-click alignment activation method in an embodiment of the present invention;

FIG. 9 is a schematic flow diagram of a fingerprint identification alignment activation method in an embodiment of the present invention;

Fig. 10 is a schematic flow diagram of the activation and alignment of the surgical robot in the embodiment of the present invention;

Fig. 11 is a schematic structural diagram of an alignment activation device of a surgical robot in an embodiment of the present invention.

Explanation of reference signs:

100-master console; 200-slave operating equipment; 110-master arm; 120-master wrist; 121-first rod; 122-second rod; 123-third rod; 124-fixture; 125-first Rotation joint; 126-second rotation joint; 127-third rotation joint; 128-fourth rotation joint; 129-push button; J1-first rotation axis; J2-second rotation axis; J3-third rotation axis; 210-mechanical arm; 220-actuating device; 230-puncture device; 310-mechanical arm; 320-adjustment arm; 330-manipulator; 340-puncture device; 350-surgical instrument; An operation instruction acquisition module; 113-a bit execution module.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

A surgical robot generally includes a slave operating device and a master operating console. FIG. 1 is a schematic diagram of a master operating console in an embodiment of the present invention, and FIG. 3 is a schematic diagram of a slave operating device in an embodiment of the present invention. The doctor can perform relevant control operations on the slave operating device 200 on the main operating console 100 , and the slave operating device 200 performs operations on the human body according to input instructions from the master operating console 100 .

In FIG. 1 , it is shown that the main console 100 includes an operation part, and the operation part includes a master arm 110 and a master wrist 120 . The user controls the movement of the slave operating device 200 by operating the master arm 110 and the master wrist 120 , and the control signal processing system of the master console 100 processes the input signals of the master arm 110 and the master wrist 120 and sends out control to the slave operating device 200 Commands, the slave operating device 200 is used to respond to the control commands sent by the master console and perform corresponding operations.

Specifically, a pose mapping control is established between the master arm 110 and the master wrist 120 and the mechanical arms and instruments of the slave operating device. This kind of mapping may be corresponding to a positional relationship, and the corresponding positional relationship may be a corresponding relationship such as distance proportionality, distance trend correspondence, and the like. Alternatively, this mapping may be a motion relationship correspondence, which may be a motion posture correspondence, a motion trend correspondence, and the like. Thus, the user can control the instrument to perform corresponding actions (such as pitch, yaw, roll, clamp, etc.) when operating the main arm 110 and the main wrist 120 . Motors with encoders are arranged in multiple joints of the master arm 110 and the master wrist 120, which can realize automatic alignment and other corresponding control functions.

FIG. 2 is a schematic diagram of a master wrist of an operating unit in an embodiment of the present invention, showing that the master wrist 120 has multiple degrees of freedom, generally including at least three degrees of freedom. The main wrist 120 includes a first rod 121, a second rod 122, a third rod 123, a clamp 124, a first revolving joint 125, a second revolving joint 126, a third revolving joint 127, a fourth revolving joint 128 and a push button 129 . The clamp 124 is installed on one end of the first rod 121 through the first rotary joint 125, and two symmetrical push buttons 129 are also arranged on the clamp 124, and the other end of the first rod 121 is mounted on the second rod 122 through the second rotary joint 126 The other end of the second bar 122 is installed to one end of the third bar 123 by the third rotary joint 127; the other end of the third bar 123 is installed on the main hand arm 110 by the fourth rotary joint 128.

The clamp 124 is rotatably connected to the first rod 121 through the first rotary joint 125 , so that the clamp 124 can rotate around the first rotation axis J1 of the first rotary joint 125 . The first rod 121 is rotationally connected with the second rod 122 through the second rotary joint 126, so that the first rod 121 can rotate around the second rotation axis J2 of the second rotary joint 126, and the second rod 122 is connected with the second rod 127 through the third rotary joint 127. The three rods 123 are rotationally connected, so that the second rod 122 can rotate around the third rotational axis J3 of the third rotary joint 127, and the third rod 123 is rotationally connected with the main hand arm 110 through the fourth rotary joint 128, so that the third rod 123 can rotate Rotates around the axis of rotation of the fourth swivel joint 128 .

In the illustrated embodiment, the rotation axes of the first rotation joint 125 , the second rotation joint 126 , and the third rotation joint 127 —the first rotation axis J1 , the second rotation axis J2 , and the third rotation axis J3 intersect at one point. The wrist 120 of the main hand adopts the design of multi-axis intersecting at one point, and the attitude and position of the entire main hand are relatively decoupled, which is convenient for kinematic calculation.

In the illustrated embodiment, the first rod 121 , the second rod 122 , and the third rod 123 are L-shaped rods, each rod has two ends connected perpendicularly to each other, and the two ends of each rod are connected with a rotating joint.

In the illustrated embodiment, the clamp 124 passes through a plurality of rods (first rod 121, second rod 122, third rod 123) and a plurality of rotating joints (first rotating joint 125, second rotating joint 126, third rotating joint Joint 127, fourth rotary joint 128) can perform multiple degrees of freedom of motion; in other embodiments, the number of rods and rotary joints can be set according to the actual required degree of freedom of movement of the clamp 124.

The main arm 110 has a mounting end and a connecting end, the mounting end can be fixedly connected to the supporting base of the main console 100 , and the main arm 110 has at least one degree of freedom of movement. The master wrist 120 is movably disposed on the connecting end of the master arm 110 through the fourth rotating joint 128 , and the master wrist 120 allows the user to perform corresponding operations, such as rotation or clamping. The clamp 124 has a degree of freedom of opening and closing. After the movement of the opening and closing degree of freedom of the clamp 124 is mapped to the instrument, the opening and closing action of the end effector (such as clamping or shearing) can be controlled. The clamp 124 revolves around the first rotation joint 125. After the rotation degree-of-freedom motion of the rotation axis J1 is mapped to the instrument, the rolling motion of the end effector of the instrument can be controlled.

As shown in Figure 3, the operating device 200 includes a mechanical arm 210 and an actuating device 220 arranged at the distal end of the mechanical arm 210, and a surgical instrument (not shown) for performing an operation is connected with the actuating device 220, causing The actuator 220 drives the surgical instrument to move through multiple actuators inside it. Multiple surgical instruments can be connected to one actuating device 220 . The distal end of the actuating device 220 is detachably equipped with a trocar 230 for connecting with the human body to achieve an airtight effect, and the surgical instrument installed on the actuating device 220 is inserted into the patient's body through the trocar 230 .

Fig. 4 is a schematic diagram of another slave operating device in an embodiment of the present invention, showing a multi-hole surgical robot, and the difference between it and the single-hole surgical robot shown in Fig. 3 is mainly the difference in the slave operating device. The driving arm of the slave operating device of the porous surgical robot shown in FIG. 4 has a mechanical arm 310 , an adjustment arm 320 and a manipulator 330 connected in sequence. The adjustment arms 320 and the manipulators 330 have the same number and are more than two. The manipulator 330 is detachably equipped with a piercer 340 for connecting with the human body to realize the airtight effect. The surgical instrument 350 is mounted on the manipulator 330 and inserted into the human body through the trocar 340 .

The doctor can input posture instructions including position instructions and posture instructions through the operation part of the main console to control the movement of the surgical instrument installed from the operating device.

When the end device located in the body is ready to start to enter the working state, it is necessary to perform master-slave alignment, and then start the end device to enter the following state. Usually, the activation step needs to be performed first, and then the above-mentioned master-slave alignment process is performed after activation.

Fig. 5 is a schematic flowchart of an alignment activation method of a surgical robot in an embodiment of the present invention, the above method is applied to a surgical robot including an operating part and a slave operating device, the method includes:

S502. Determine a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operating device.

Before performing the alignment activation, it is necessary to detect whether the current state of the surgical robot allows the alignment activation between the master operating platform and the slave operating equipment. When alignment is allowed, execute the alignment activation method provided in this embodiment.

Exemplarily, if the following conditions are met, it is determined that the alignment activation is allowed: the triggering of the head sensing signal is obtained, the communication between the master console and the slave operating device is normal, and the slave operating device allows the alignment signal to be triggered. In the above conditions, if the trigger of the head sensor signal is obtained, it means that the user is ready for operation at the main console; the communication between the main console and the slave operating device is normal, which means that the master console and the slave operating device can communicate reliably; the slave operating device Allows triggering of alignment signals, such as endoscope in position and a surgical instrument in position. Optionally, the main console is provided with a sensor, such as a proximity switch, a pressure sensor, etc., to sense whether the head is approaching, and the head sensing signal is triggered when the head is approaching.

In order to realize the function of detecting the type of the instrument, for example, the following methods can be used: read the information of the instrument installed from the operating equipment to obtain the type of the instrument; and/or identify the information collected by the image acquisition device including the instrument installed from the operating equipment of the image to obtain the type of instrument. The image acquisition device is, for example, an endoscope, and the endoscope may be installed on the slave operation device, or may not be an endoscope installed on the operation device (for example, a hand-held endoscope).

Optionally, this embodiment provides multiple alignment activation methods, as follows: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation. Among them, the double-click alignment activation is determined by whether the operating device responds to the user's two pinch actions, the rotation alignment activation is determined by whether the operating device responds to the user's rotation and push operations, and the push alignment activation is determined by The activation is determined by whether the operating device responds to the user's push operation, and the activation of the fingerprint identification alignment is determined by whether the main operating console collects legal fingerprints and appropriate fingerprint pressure.

Considering that the device installed from the operating device will limit its activation method, this embodiment can automatically select the registration activation method based on the type of device on the basis of providing the above-mentioned multiple alignment activation methods, thereby providing users with more Safe and efficient activation effect. Optionally, if the type of instrument installed from the operating device is open-close type, select the rotation alignment activation method or push alignment activation method; if the type of instrument installed from the operation device is non-open-close type, select double-click Alignment activation method or fingerprint identification alignment activation method.

For example, for instruments with opening and closing functions, if the end effectors such as grasping forceps, scissors, and separating forceps are used, if the double-click alignment activation method is used (the end effector will open and close to a certain extent during the activation process), it may It causes the instrument that originally grasped the surgical needle to loosen the needle, or the forceps that originally grasped the tissue to loosen, which is detrimental to the surgical process. Therefore, for the above-mentioned instruments with opening and closing functions, you can choose the rotation alignment activation method, the push alignment activation method, and the fingerprint recognition alignment activation method.

For an instrument without opening and closing function, which includes an end effector such as an electric knife, you can choose the double-click alignment activation method. It should be noted that the double-click alignment activation method is relatively more accurate, and the problem of false touch activation is not easy to occur. Fingerprint recognition alignment activation method, after the system recognizes a legal user fingerprint, it can read the legal user's operation preference information, such as the height of the pose motor of the master console, the movement ratio of the master-slave operation, etc., which is conducive to quick completion Prepare for surgery.

After multiple feasible alignment activation methods are obtained based on the above steps, a prompt message can be output to prompt the user to choose an activation method independently, and the user can choose a suitable alignment activation method by himself.

S504. Obtain an operation instruction associated with the above-mentioned target alignment activation manner.

After the target alignment activation mode is determined, its associated operation instruction is obtained, so that the operation unit and the slave operation device execute the operation instruction.

S506. Align the posture of the operating part with the posture of the end effector of the instrument in response to the above operation instruction being triggered.

Optionally, the posture alignment process includes the following steps: (1) Execute the automatic alignment process of the operating part and the slave operating device; (2) After obtaining the manipulation instruction input by the user, execute the active following of the slave operating device to actively follow the operating part process.

The alignment activation method of the surgical robot provided in this embodiment provides a variety of alignment activation methods, and an appropriate alignment activation method can be selected according to the type of instrument installed on the operating device, and the operation part and the slave operation can be executed after activation. The posture alignment process of the device can avoid misoperation during activation and improve the safety and efficiency of the activation process.

The specific process of each alignment activation mode is described in detail below.

Fig. 6 shows a schematic flow chart of the rotation alignment activation method in this embodiment. The operation part of the surgical robot applied in the rotation alignment activation method includes at least one rotatable part, and the rotatable part is connected to the target joint of the slave operation device. A mapping control relationship exists. It should be noted that the rotatable parts and other parts that trigger corresponding operation instructions are connected in communication with the controller or processor of the main console. As shown in Figure 6, the following steps are included:

S601. Send a fixed position value to the target joint of the slave operating device. A joint is used as the target joint, and the response of the joint is used as the basis for judging whether the activation is successful. After sending the fixed position value, the motor of the joint will remain at the position corresponding to the fixed position value.

S602. Obtain an instruction input by the user through the rotatable component to control the rotation of the target joint, and send the instruction to the target joint. After the user inputs an action to control the rotation of the target joint in the operation part, the target joint overcomes the torque of the motor and rotates to another position, and the system software can read the current position value. In the next step, the system software will check the current value and position value of the motor to determine whether the rotation activation is complete.

S603. Collect the current position value and current value of the motor of the target joint. The controller of the main console can be connected with the driver of the motor, and obtain the current value of the motor from the driver. The controller of the main console can also be connected with a position sensor of the motor, such as an encoder, and obtain the current position value of the motor from the position sensor.

S604, if the above-mentioned current value is greater than the preset current threshold, and/or the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, determine that the activation is executed successfully.

Since the fixed position value sent to the motor does not change, after the user controls the rotation of the target joint, the motor will output a torque opposite to the direction of rotation and push, and the system software can collect the current value of the motor. If the current value is greater than the preset If the current threshold is set, it is considered that the rotation activation is successful. If the activation success condition is not met, the target joint is restored to the above fixed position through the spring model.

The system software can also collect the current position value of the motor, and then compare it with the above-mentioned fixed position value. If the subtraction between the current position value and the fixed position value is greater than the preset movement difference threshold, it is considered that the rotation activation is completed. If the activation success condition is not met, the target joint is restored to the above fixed position through the spring model.

Fig. 7 shows a schematic flow chart of the push alignment activation method in this embodiment, the operation part of the surgical robot applied in the push alignment activation method includes at least one pushable part, and the pushable part is connected to the target joint of the slave operation device A mapping control relationship exists. As shown in Figure 7, the following steps are included:

S701. Send a fixed position value to the target joint of the slave operating device. A joint is used as the target joint, and the response of the joint is used as the basis for judging whether the activation is successful. After sending the fixed position value, the motor of the joint will remain at the position corresponding to the fixed position value.

S702. Obtain an instruction to control the pushing of the target joint input by the user through the pushable component, and send the instruction to the target joint. After the user inputs an action to control the rotation of the target joint in the operation part, the target joint overcomes the torque of the motor and rotates to another position, and the system software can read the current position value. In the next step, the system software will check the current value and position value of the motor to determine whether the rotation activation is complete.

S703, collecting the current position value and current value of the motor of the target joint. The controller of the main console can be connected with the driver of the motor, and obtain the current value of the motor from the driver.

S704. If the current value is greater than the preset current threshold, and/or the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, determine that the activation is executed successfully.

Since the fixed position value sent to the motor does not change, the user can hold the joystick and push it in or pull it out. If the above current value is greater than the preset current threshold, the rotation activation is considered successful. If the activation success condition is not met, the target joint is restored to the above fixed position through the spring model.

The system software can also collect the current position value of the motor, and then compare it with the above-mentioned fixed position value. If the subtraction between the current position value and the fixed position value is greater than the preset movement difference threshold, the push activation is considered complete. If the activation success condition is not met, the target joint is restored to the above fixed position through the spring model.

Fig. 8 shows a schematic flow chart of the double-click alignment activation method in this embodiment. The operation part of the surgical robot applied in the double-click alignment activation method includes at least one clamp, and the clamp has a mapping control relationship with the target joint of the slave operation device. . As shown in Figure 8, the following steps are included:

S801. Acquire a first action instruction and a second action instruction sequentially input by a user through a jig. The first action is a pinching action and the second action is a releasing action, or the second action is a pinching action and the first action is a releasing action. That is, the activation is performed in the order of pinch-loose-pinch and loose-pinch-loosen.

Exemplarily, this function is in the waiting operation state, and the first pinch-down judgment is performed. When the fingers are pinched down, if the feedback data of the opening and closing sensor is judged to be less than the set value, it is considered that the pinch-down action is successful and enters the next action. Otherwise, it fails and returns to the waiting operation state.

During the finger release process, the finger drives the release sensor within a specified time (for example, 1 second). If it is judged that the feedback data of the opening and closing sensor is greater than the set value, it is considered that the release action is successful (that is, completed) and enters the next action. If it is not released to the specified value within the specified time, it will be considered a failure and return to the waiting operation state.

S802. If both the first action instruction and the second action instruction are executed in response to the instrument installed from the operating device, continue to acquire the first action input by the user through the fixture.

Carry out the second pinch-down judgment, within the specified time (for example, 1 second), the fingers continue to pinch down, if it is judged that the feedback data of the opening and closing sensor is less than the set value, it is considered that the pinch-down action is successful (that is, completed). If you do not pinch down to the set value within the specified time, it will be considered a failure and return to the waiting operation state.

S803, if the instrument installed from the operating device is executed again in response to the first action instruction, determine that the operation instruction associated with the target alignment activation mode is triggered.

Fig. 9 shows a schematic flow chart of the fingerprint recognition and alignment activation method in this embodiment. The operation part of the surgical robot to which the fingerprint recognition and alignment activation method is applied includes a fingerprint recognition component, which has functions of fingerprint recognition and pressure recognition. As shown in Figure 9, the following steps are included:

S901. Obtain the fingerprint information and the pressure value collected by the fingerprint identification component.

S902. If the fingerprint information matches the pre-stored legitimate fingerprint information, and the pressure value is greater than a preset pressure threshold, determine that the activation is executed successfully.

The surgical robot is pre-entered by the administrator authority to enter the allowed legal user list and fingerprint information. When activation is required, the user presses the finger to the fingerprint identification device on the main console, and a pressure sensor is arranged under the fingerprint identification device to collect the pressure value of the finger pressing. If the fingerprint matching is successful and the pressure value exceeds the preset pressure threshold, the system considers the activation to be successful.

After the activation is successful, continue to execute the process of alignment between the operation unit and the slave operation device. Optionally, the following two-stage process is included: performing an automatic alignment process of the operating part and the slave operating device; and executing an active following process of actively following the operating part from the operating device after obtaining the manipulation instruction input by the user.

When performing automatic alignment, there are two ways of master-slave follow or slave-master follow. Based on the selection reasons for the above activation methods, if you choose rotation alignment activation, push alignment activation, or fingerprint recognition alignment activation, you will choose the slave-master following method; if you choose double-click alignment activation, you will choose the master-slave following method. details as follows:

(1) If you choose to activate rotation alignment, push alignment activation, or fingerprint identification alignment activation, and choose the slave master following mode, the above S506 includes: calculating the position of the clamp of the operating part according to the first opening and closing angle of the instrument installed on the slave operating device The second opening and closing angle: the clamp of the control operation part is opened to the second opening and closing angle.

Wherein, the instrument installed from the operating device includes an end effector, and the opening and closing of the above instrument is the opening and closing of the end effector of the above instrument. Specifically, calculating the second opening and closing angle of the clamp of the operating part according to the first opening and closing angle of the instrument installed from the operating device includes: obtaining the current actual posture of the instrument installed from the operating device, and converting the current actual posture coordinates into operation The target pose of the fixture in the upper part, and the inverse solution of the target pose to obtain the target joint position of the fixture. Controlling the clamp to open to the second opening and closing angle includes: sending the target joint position to the clamp to move the clamp to the target joint position; obtaining the current joint position of the clamp, and solving the current joint position to obtain the current posture of the clamp; Convert the current attitude coordinates of the slave operating equipment into the current attitude for verification of the slave operating equipment, and calculate the deviation between the current attitude for verification and the current actual attitude of the equipment installed on the slave operating equipment; if the deviation is less than or equal to the preset deviation threshold, it is determined that the fixture has Open to the second opening and closing angle.

(2) If you choose double-click alignment activation and choose the master-slave following mode, the above S506 includes: calculating the first opening and closing angle of the instrument installed from the operating device according to the second opening and closing angle of the clamp of the operating part; controlling the installation of the slave operating device The instrument is opened to the first opening and closing angle.

Among them, the structure of the master-slave following method is simpler, because the operating lever of the master console in the master-slave following method is opened and closed by the user, and the opening and closing of the operating lever does not need to have active movement properties, but the master-slave following method is easy. Let needle holders, large grasping forceps, separating forceps, scissors and other instruments with opening and closing actions open and close during alignment, resulting in problems such as needle drop, forceps or scissors loosening. Compared with the master-slave follow-up method, the slave-master follow-up method has no opening and closing action of the instruments at the slave operation device, and the safety of the operation is higher.

After the automatic alignment, if the manipulation command input by the user is obtained, an active following process of actively following the operating unit from the operating device is executed. Specifically, the method includes the following steps: obtaining the current posture of the operating part after being controlled by the user; converting the coordinates of the current posture into the target posture of the instrument installed from the operating device; inversely solving the target posture to obtain the target joint position of the instrument installed from the operating device ; Control the movement of the instrument mounted from the operating device to the target joint position.

Figure 10 shows a schematic flow diagram of the activation and alignment of the surgical robot in this embodiment, including the following steps:

S1001, judging whether alignment activation is allowed. If yes, execute S1002; if not, continue to execute S1001.

S1002. Execute the alignment activation method determined according to the device type.

S1003, judging whether the alignment activation is successful. If yes, execute S1004; if not, execute S1002.

S1004. Obtain the current actual posture of the instrument installed from the operating device, transform the coordinates of the current actual posture into the target posture of the gripper of the operating part, and reverse the target posture to obtain the target joint position of the gripper.

S1005. Send the target joint position to the clamp, so that the clamp moves to the target joint position.

S1006, acquiring the current joint position of the fixture, and calculating the current joint position forward to obtain the current posture of the fixture.

S1007. Convert the current posture coordinates of the fixture into the current posture for verification of the slave operation device, and calculate the deviation between the current posture for verification and the current actual posture of the instrument installed on the slave operation device.

S1008, judging whether the above deviation is less than or equal to a deviation threshold. If yes, execute S1009; if not, execute S1006.

S1004-S1008 is an automatic alignment process, and the following S1009-S1012 is an active following process.

S1009, the master-slave alignment is 100% by default, and the current posture of the operating part after being controlled by the user is acquired. The current posture is obtained from the positive solution of the joint position that the operation part is actually manipulated and moved by.

S1010, converting the current posture coordinates into a target posture of the instrument installed from the operating device. The target pose includes, for example, the target pose of an end effector in the instrument.

S1011, inversely decomposing the target posture to obtain the target joint position of the instrument installed from the operating device.

S1012, controlling the movement of the instrument mounted on the operating device to the target joint position.

The above-mentioned method provided by this embodiment can prevent misoperation during activation by automatically selecting the activation mode, and improve the safety and efficiency of the activation process. It is easy to complete the alignment action, and it can prevent the needle from falling out during the operation, and the following method adopts the slave-master follow-up method, which can also avoid the needle falling out during the operation.

Fig. 11 is a schematic structural view of an alignment activation device for a surgical robot in an embodiment of the present invention, the device includes:

An activation mode selection module 111, configured to determine a target alignment activation mode from the alignment activation modes according to the type of instrument installed from the operating device;

An operation instruction acquisition module 112, configured to acquire an operation instruction associated with the target alignment activation mode;

The alignment execution module 113 is configured to align the posture of the operating part with the posture of the end effector of the instrument in response to the operation command being triggered.

The alignment activation device of the surgical robot provided in this embodiment provides a variety of alignment activation methods, and an appropriate alignment activation method can be selected according to the type of instrument installed on the operating device, and the operation part and the slave operation can be executed after activation. The posture alignment process of the device can avoid misoperation during activation and improve the safety and efficiency of the activation process.

Optionally, the alignment activation method includes at least one of the following: double-click alignment activation, rotation alignment activation, push alignment activation, and fingerprint recognition alignment activation; the activation method selection module 111 is specifically used for: if The type of instrument installed from the operating device is open and close, then determine the target alignment activation method as the rotation alignment activation or push alignment activation; if the type of instrument installed from the operating equipment is non-opening and closing type, it is determined that the target alignment activation method is the double-click alignment activation or the fingerprint identification alignment activation.

Optionally, the operation part includes at least one rotatable part, and the rotatable part has a mapping control relationship with the target joint of the slave operation device; the alignment execution module 113 is specifically configured to: The target joint of the operating device sends a fixed position value; obtains an instruction for controlling the rotation of the target joint input by the user through the rotatable component, and sends the instruction to the target joint; collects the motor of the target joint The current position value and current value; if the current value is greater than the preset current threshold, and/or, the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, then determine the target pair The operation instruction associated with the bit activation mode is triggered.

Optionally, the operation part includes at least one pushable part, and the pushable part has a mapping control relationship with the target joint of the slave operation device; the alignment execution module 113 is specifically configured to: The target joint of the operating device sends a fixed position value; acquires an instruction input by the user through the pushable component for controlling the pushing of the target joint, and sends the instruction to the target joint; collects the motor of the target joint The current position value and current value; if the current value is greater than the preset current threshold, and/or, the difference between the current position value and the fixed position value is greater than the preset movement difference threshold, then determine the target pair The operation instruction associated with the bit activation mode is triggered.

Optionally, the operation part includes at least one fixture, and there is a mapping control relationship between the fixture and the target joint of the slave operation device; the alignment execution module 113 is specifically configured to: acquire the sequence input by the user through the fixture The first action instruction and the second action instruction; the first action instruction is associated with a pinch action, the second action instruction is associated with a release action, or the second action instruction is associated with a pinch action, and the first action instruction is associated with Release action; if the instrument installed from the operating device is executed in response to the first action instruction and the second action instruction, continue to obtain the first action instruction input by the user through the clamp; if the slave When the instrument installed on the operating device is executed again in response to the first action instruction, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the operation unit includes a fingerprint identification component, and the alignment execution module 113 is specifically configured to: obtain fingerprint information and pressure values collected by the fingerprint identification component; if the fingerprint information is consistent with pre-stored legal fingerprint information match, and the pressure value is greater than the preset pressure threshold, it is determined that the operation instruction associated with the target alignment activation mode is triggered.

Optionally, the activation mode selection module 111 is specifically configured to: read the information of the device installed on the slave operating device to obtain the type of the device; and/or identify the information collected by the image acquisition device including the An image of an instrument installed on the operating device, obtaining the type of said instrument.

Optionally, the alignment execution module 113 is specifically configured to: execute the automatic alignment process of the operation part and the slave operation device; execute the slave operation device to actively follow the The active follow-up process of the operation department is described above.

Optionally, the alignment execution module 113 is specifically configured to: calculate the second opening and closing angle of the clamp of the operating part according to the first opening and closing angle of the instrument installed from the operating device; control the opening and closing angle of the clamp; open to the second opening and closing angle.

Optionally, the alignment execution module 113 is specifically configured to: calculate the first opening and closing angle of the instrument installed on the slave operating device according to the second opening and closing angle of the clamp of the operating part; control the slave operation The equipment-mounted instrument expands to the first opening angle.

Optionally, the alignment execution module 113 is specifically configured to: obtain the current actual posture of the instrument installed from the operating device, convert the current actual posture coordinates into the target posture of the clamp of the operating part, and The target posture inverse solution is obtained to obtain the target joint position of the clamp; the target joint position is sent to the clamp to make the clamp move to the target joint position; the current joint position of the clamp is obtained, and the The current joint position positive solution is obtained to obtain the current posture of the fixture; the current posture coordinates of the fixture are converted into the current posture for verification of the slave operating device, and the difference between the current posture for verification and the installation of the slave operating device is calculated. The deviation between the current actual postures of the instrument; if the deviation is less than or equal to a preset deviation threshold, it is determined that the clamp has opened to the second opening and closing angle.

Optionally, the alignment execution module 113 is specifically configured to: obtain the current posture of the operating part after being controlled by the user; convert the current posture coordinates into the target posture of the instrument installed from the operating device; convert the The target posture inverse solution is obtained to obtain the target joint position of the instrument installed from the operating device; the movement of the instrument installed from the operating device is controlled to the target joint position.

Optionally, the device further includes an activation permission judging module, configured to: judge whether the alignment activation between the main console and the operation part is allowed; if at least one of the following conditions is met, determine that the alignment activation is allowed The conditions include obtaining the head sensor signal trigger, the communication between the master console and the slave operating device is normal, and the slave operating device allows the triggering of the alignment signal.

An embodiment of the present invention provides a surgical robot, including an operating part; a slave operating device; and a controller, the controller is coupled to the operating part and the slave operating device, and is configured to execute the above-mentioned surgical robot. The parasite activation method.

The embodiment of the present invention 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, each process of the above-mentioned embodiment of the method for aligning and activating a surgical robot is implemented, and can To achieve the same technical effect, in order to avoid repetition, no more details are given here. Wherein, the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and the like.

Of course, those skilled in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing the control device through a computer program, and the program can be stored in a computer-readable storage medium, so When the program is executed, it may include the processes of the above method embodiments, wherein the storage medium may be a memory, a magnetic disk, an optical disk, and the like.

In this document, relational terms such as first and second etc. are used only to distinguish one entity or operation from another without necessarily requiring or implying any such relationship between these entities or operations. Actual relationship or sequence. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (16)

1. A method for activating alignment of a surgical robot, the surgical robot including an operation unit and a slave operation device, the method comprising:

determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment;

acquiring an operation instruction associated with the target alignment activation mode;

in response to the operating instruction being triggered, the pose of the operating portion is aligned with the pose of the end effector of the instrument.

2. The method of claim 1, wherein the alignment activation means comprises at least one of: double-click alignment activation, rotation alignment activation, push alignment activation and fingerprint identification alignment activation;

the determining a target alignment activation mode from the alignment activation modes according to the type of the instrument installed from the operation equipment comprises the following steps:

if the type of the instrument installed from the operation equipment is an opening-closing type, determining that a target alignment activation mode is the rotation alignment activation or push alignment activation;

and if the type of the instrument installed from the operation equipment is non-open-close, determining that the target alignment activation mode is the double-click alignment activation or the fingerprint identification alignment activation.

3. The method of claim 2, wherein the operating portion includes at least one rotatable component in a mapping control relationship with a target joint of the slave operating device; if the rotation alignment is determined to be activated, the response to the operation instruction is triggered, including:

transmitting a fixed position value to a target joint of the slave operation device;

acquiring an instruction which is input by a user through the rotatable component and used for controlling the rotation of the target joint, and sending the instruction to the target joint;

Collecting a current position value and a current value of a motor of the target joint;

and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

4. The method of claim 2, wherein the operating portion includes at least one pushable member having a mapping control relationship with a target joint of the slave operating device; if the push alignment is determined to be activated, the response to the operation instruction is triggered, including:

transmitting a fixed position value to a target joint of the slave operation device;

acquiring an instruction which is input by a user through the pushable component and used for controlling the pushing of the target joint, and sending the instruction to the target joint;

collecting a current position value and a current value of a motor of the target joint;

and if the current value is greater than a preset current threshold value and/or the difference value between the current position value and the fixed position value is greater than a preset movement difference threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

5. The method of claim 1, wherein the operation portion includes at least one jig in a mapping control relationship with a target joint of the slave operation device; if the double-click bit is determined to be activated, the response to the operation instruction is triggered, including:

acquiring a first action instruction and a second action instruction which are sequentially input by a user through the clamp; the first action command is associated with a kneading action and the second action command is associated with a loosening action, or the second action command is associated with a kneading action and the first action command is associated with a loosening action;

if the instrument installed from the operation equipment responds to the first action instruction and the second action instruction to be executed, continuously acquiring the first action instruction input by the user through the clamp;

and if the instrument installed from the operation device responds to the first action instruction to be executed again, determining that the operation instruction associated with the target alignment activation mode is triggered.

6. The method of claim 1, wherein the operating portion includes a fingerprint recognition component, and wherein the responding to the operating instruction is triggered if it is determined that the fingerprint recognition alignment is activated, comprising:

Acquiring fingerprint information and pressure values acquired by the fingerprint identification component;

and if the fingerprint information is matched with the prestored legal fingerprint information and the pressure value is greater than a preset pressure threshold value, determining that an operation instruction associated with the target alignment activation mode is triggered.

7. The method of any one of claims 1-6, wherein prior to determining a target alignment activation pattern from among alignment activation patterns based on the type of instrument installed from the operating device, the method further comprises:

reading information of the instrument installed from the operation equipment to obtain the type of the instrument; and/or identifying the image comprising the instrument installed from the operation device and acquired by the image acquisition device, and obtaining the type of the instrument.

8. The method of any of claims 1-6, wherein aligning the pose of the manipulator with the pose of the end-effector of the instrument comprises:

executing an automatic alignment flow of the operation part and the slave operation device;

and after the control instruction input by the user is acquired, executing an active following flow of the slave operation device actively following the operation part.

9. The method of claim 8, wherein if the rotation alignment activation, the push alignment activation, and the fingerprint recognition alignment activation are selected, the performing the automatic alignment process of the operation portion and the slave operation device includes:

Calculating a second opening and closing angle of the clamp of the operation part according to the first opening and closing angle of the instrument installed from the operation device;

and controlling the clamp to open to the second opening and closing angle.

10. The method according to claim 8, wherein if the double-click alignment activation is selected, the performing an automatic alignment procedure of the operation portion and the slave operation device includes:

calculating a first opening and closing angle of the instrument installed from the operation device according to a second opening and closing angle of the clamp of the operation part;

controlling the opening of the instrument mounted from the operating device to the first opening and closing angle.

11. The method of claim 9, wherein calculating the second opening and closing angle of the clamp of the operating portion from the first opening and closing angle of the instrument mounted from the operating device comprises:

acquiring the current actual gesture of the instrument installed from the operation equipment, converting the current actual gesture coordinate into the target gesture of the clamp of the operation part, and inversely solving the target gesture to obtain the target joint position of the clamp;

the controlling the clamp to open to the second opening and closing angle includes:

transmitting the target joint position to the clamp to move the clamp to the target joint position;

Acquiring a current joint position of the clamp, and positively solving the current joint position to obtain a current posture of the clamp;

converting the current posture coordinates of the clamp into a current posture for verification of the slave operation device, and calculating the deviation between the current posture for verification and the current actual posture of the instrument installed by the slave operation device;

and if the deviation is smaller than or equal to a preset deviation threshold value, determining that the clamp is opened to the second opening and closing angle.

12. The method according to claim 8, wherein the executing the active follow-up flow in which the slave operation device actively follows the operation section includes:

acquiring the current gesture of the operation part after being controlled by a user;

converting the current pose coordinates into a target pose of the instrument mounted from the operating device;

inverse solving the target pose to obtain a target joint position of the instrument mounted from the operating device;

controlling the movement of the instrument mounted from the operating device to the target joint position.

13. The method of any one of claims 1-6, wherein prior to determining a target alignment activation pattern from among alignment activation patterns based on the type of instrument installed from the operating device, the method further comprises:

Judging whether the main operation table and the operation part are allowed to be activated in an alignment mode;

determining that the para-position is allowed to be activated if at least one of the following conditions is satisfied; the conditions include that a head induction signal trigger is acquired, the communication between the master operation platform and the slave operation equipment is normal, and the slave operation equipment allows an alignment signal to trigger.

14. An alignment activation device for a surgical robot, the surgical robot including an operation unit and a slave operation device, the device comprising:

the activation mode selection module is used for determining a target alignment activation mode from alignment activation modes according to the type of the instrument installed from the operation equipment;

the operation instruction acquisition module is used for acquiring the operation instruction related to the target alignment activation mode;

and the alignment execution module is used for aligning the gesture of the operation part with the gesture of the end effector of the instrument in response to the operation instruction being triggered.

15. A surgical robot, comprising:

an operation unit;

a slave operating device; and

A controller coupled with the operation portion and the slave operation device and configured to perform the alignment activation method of the surgical robot according to any one of claims 1 to 13.

16. A computer readable storage medium, characterized in that it stores a computer program configured to be loaded by a processor and to execute a method of implementing the alignment activation of a surgical robot according to any of claims 1-13.

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