WO2022000990A1 - Surgical robot, control apparatus thereof, and control method therefor - Google Patents

Abstract

A surgical robot, a control apparatus thereof, and a control method therefor. The surgical robot comprises a slave operation device (3) and the control apparatus; a plurality of feet (300) are provided at the bottom of the slave operation device (3); the feet (300) are configured to be height-adjustable; the control apparatus is coupled to the feet (300), respectively; at least part of the feet (300) are configured to be first controlled feet (300a); and the control apparatus is configured to: obtain a projection point of the total center of mass of the slave operation device (3) on a support reference plane (S1); and when the projection point is determined to fall within an under-stable area (41) of an effective domain (4) of the support reference plane, adjust the support height of each first controlled foot (300a) so that the projection point falls within a stable area (42) of the effective domain (S2). The surgical robot can enhance the support stability.

Description

Surgical robot, control device and control method thereof

This application claims the priority of the Chinese patent application with the application number CN202010616821.3 and the application name "surgical robot and its control device and control method" filed with the China Patent Office on June 30, 2020, the entire contents of which are incorporated by reference in this application. This application also claims the priority of the Chinese patent application with the application number CN 202010616822.8 and the application name "Surgical Robot and its Control Device and Control Method", which was submitted to the China Patent Office on June 30, 2020, the entire contents of which are incorporated by reference in this application.

technical field

The present application relates to the field of medical devices, and in particular, to a surgical robot and its control device and control method.

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 robotic technology has gradually matured and been widely used. The minimally invasive robot usually includes a master console and a slave operation device. The master console includes a handle. The doctor sends control commands to the slave operation device through the operation handle. It has an end instrument, and in the working state, the end instrument moves with the handle to realize remote surgical operation.

When the slave operating device is used for surgical operation, the position of the center of mass may change in real time due to the change of the position of the manipulator and/or the manipulator. When the position of the center of mass appears in some edge areas, it is easy to cause the problem of unstable support, especially However, when an external force is applied to some parts of the slave operating device, the problem of unstable support may be exacerbated, and even cause the slave operating device to fall over.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a surgical robot, a control device and a control method thereof capable of enhancing the support stability.

The present application provides a surgical robot, including a slave operating device and a control device, the slave operating device has a plurality of legs at the bottom, the legs are configured to support height adjustable, and the control device is respectively coupled to each of the legs, At least part of the support feet are configured as first controlled support feet, and the control device is configured to: obtain a projection point of the total center of mass of the slave operating device on the support reference plane; and after judging that the projected point falls into the support reference plane When the understable region in the effective region of the surface is detected, the height of each of the first controlled support feet is adjusted so that the projection point falls within the stable region of the effective region.

Wherein, the step of adjusting the height of each of the first controlled support feet so that the projection point falls within the stable area of the effective area includes: obtaining a target position where the projected point is expected to fall into the stable area; adjusting each The height of the first controlled foot support is such that the projection point is moved from the current position to the target position.

Wherein, the slave operating device has a plurality of articulated arms, the articulated arms at the proximal end are provided with the support feet, the articulated arms at the distal end are used to configure the manipulation arms with end instruments, and each articulated arm is provided with For the position sensor coupled with the control device, the step of obtaining the projection point of the total center of mass of the slave operating device on the support reference plane includes: obtaining the sub-mass of each of the articulated arms and the sub-mass of each of the articulated arms and the sub-mass of the corresponding articulated arm. The spatial position of the centroid of the link coordinate system; obtain the joint position of the corresponding joint arm detected by each of the position sensors in the reference coordinate system; combine the centroid of each joint arm in the corresponding link coordinate system. The centroid space position and the corresponding joint position are obtained through forward kinematics to obtain the centroid space position of the corresponding joint arm in the reference coordinate system; the partial mass and the centroid of each joint arm are combined in the reference coordinate system. The centroid space position of the sub-centroid is obtained by the multi-body centroid solution method of the total centroid space position of the total centroid of the slave operating device in the reference coordinate system; the total centroid space position of the total centroid in the reference coordinate system is converted into the total centroid space position of the support datum plane. the projection point.

Wherein, the number of the articulated arms at the distal end is one, and the articulated arms at the distal end are used to detachably set more than one operating arm; or, the number of the articulated arms at the distal end is two or more, each The articulated arm at the distal end is used to detachably set one of the operating arms.

Wherein, the slave operation device has an angle detection element, the control device is coupled with the angle detection element, and after the step of obtaining the total center of mass of the slave operation device in the space position of the total center of mass of the base coordinate system, the method includes: The inclination angle of the support surface detected by the angle detection element; and the space position of the total centroid of the slave operating device in the base coordinate system is updated according to the inclination angle.

Wherein, the inclination angle includes a first inclination angle of the support reference plane between the first orthogonal direction and the horizontal plane, and a second inclination angle between the second orthogonal direction and the horizontal plane.

Wherein, the articulated arm at the proximal end is a base, and the articulated arm at the distal end is a power mechanism, and the power mechanism includes more than one guide rail and a power part slidably arranged on the corresponding guide rail. The step of obtaining the sub-mass of each articulated arm and the sub-centroid space position of its sub-centroid in the link coordinate system of the corresponding articulated arm includes: Obtain the sub-mass of each of the articulated arms except the power mechanism and the sub-centroid space position of the sub-centroid in the corresponding link coordinate system; obtain the power according to the installation state information and position state information inside the power mechanism The sub-mass of the mechanism and its sub-centroid are in the sub-centroid space position of its connecting rod coordinate system; wherein, the installation state information is related to the installation state of the operating arm on each of the power parts, and the position state information is related to each The positional states of the power units relative to the corresponding guide rails are related, and the installation state information includes information on whether each of the power units is provided with an operating arm, and/or the type of operating arms provided on each of the power units information.

Wherein, the operating arm has a storage element storing type information of the operating arm, each of the power parts is provided with an identification element coupled with the control device and with the storage unit, the guide rail or the The power part is provided with a position sensor coupled with the control device, and according to the installation state information and position state information inside the power mechanism, the sub-mass of the power mechanism and its sub-mass center in its connecting rod coordinate system are obtained. The step of dividing the spatial position of the centroid includes: acquiring the installation state information inside the power mechanism detected by the identification element and the position state information inside the power mechanism detected by the position sensor; The installation state information inside the power mechanism invokes a matching parameter calculation model among a plurality of pre-built parameter calculation models; wherein each parameter calculation model is respectively associated with a different installation state of the power mechanism. The sub-mass corresponding to the position state and the sub-centroid space position of the sub-centroid in the corresponding connecting rod coordinate system; the sub-mass and its sub-mass of the power mechanism are obtained according to the parameter calculation model called and the position state information inside the power mechanism. The centroid of the centroid is in the spatial position of the centroid of the corresponding connecting rod coordinate system.

Wherein, at least each of the first controlled feet is provided with a pressure sensor coupled with the control device, and the step of obtaining the projection point of the total center of mass of the slave operating device on the support reference plane includes: obtaining the detection point of each pressure sensor The obtained pressure value; obtain the total mass of the slave operating equipment; obtain the fulcrum position of each of the first controlled feet on the support reference plane; combine each of the pressure values, the total mass and the fulcrum position to construct a support The projection point is obtained from the moment balance equation of two orthogonal directions in the datum plane.

Wherein, the bottom of the slave operating device also has a plurality of wheels, the wheels are configured to provide movement and auxiliary support, and each of the wheels and each of the controlled feet is provided with a pressure sensor coupled with the control device, The step of obtaining the projection point of the total centroid of the slave operating device on the support reference plane includes: obtaining the pressure value detected by each of the pressure sensors; obtaining the total mass of the slave operating device; obtaining each of the first controlled The fulcrum position of the foot and each wheel on the support reference plane; the projection point is obtained by constructing a moment balance equation in two orthogonal directions in the support reference plane by combining each of the pressure values, the total mass and the fulcrum position.

Wherein, the step of adjusting the height of each of the first controlled feet to move the projection point from the current position to the target position includes: obtaining a position vector from the projection point to the target position on the support reference plane , the position vector includes distance and direction; the incremental adjustment direction supported by each of the first controlled feet is determined according to the position vector; the incremental adjustment direction of each of the first controlled feet is incrementally adjusted according to the incremental adjustment direction The control feet support corresponding incremental heights until the projection point moves from the current position to the target position.

The step of obtaining the position vector from the projection point to the target position on the support reference plane is specifically: obtaining a first orthogonal direction from the projection point to the target position on the support reference plane a position vector, and a second position vector in the second orthogonal direction; the step of determining the incremental adjustment direction supported by each of the first controlled legs according to the position vector is specifically: determining according to the first position vector Each of the first controlled feet is adjusted in a first incremental adjustment direction associated with the first orthogonal direction, and in a second incremental adjustment direction associated with the second orthogonal direction; The step of adjusting the incremental height corresponding to each of the first controlled foot supports until the projection point moves from the current position to the target position, specifically: respectively adjusting the direction and the target position according to the first increment. The second incremental adjustment direction adjusts the incremental height corresponding to each of the first controlled foot supports in an incremental manner until the projection point moves from the current position to the target position.

Wherein, the step of adjusting the height supported by each of the first controlled feet so that the projection point moves from the current position to the target position includes: obtaining the distance between the projection point and the target position on the support reference plane ; Obtain the height between the projection point of the reference coordinate system and the total center of mass; determine the target inclination angle of the supporting reference plane according to the distance and the height; adjust each of the first receiving objects according to the target inclination angle The height supported by the control feet causes the projection point to move from the current position to the target position.

Wherein, the step of obtaining the distance between the projection point on the support reference plane and the target position is specifically: obtaining the first orthogonal direction between the projection point on the support reference plane and the target position. a distance, a second distance in the second orthogonal direction; the step of determining the target inclination angle of the support reference plane according to the distance and the height, specifically: determining the support reference plane according to the first distance and the height at a first target inclination angle associated with the first orthogonal direction, and at a second target inclination angle associated with the second orthogonal direction; adjusting the height of each of the first controlled foot supports according to the target inclination angle so that all the The step of moving the projection point from the current position to the target position is specifically: according to the first target inclination angle and the second target inclination angle, adjusting the height of each of the first controlled legs to make the projection The point is moved from the current position to the target position.

Wherein, the step of adjusting the height of each of the first controlled support legs according to the target inclination angle so that the projection point moves from the current position to the target position includes: obtaining each of the first The target support height of the controlled foot; adjust the height of each of the first controlled foot supports according to the corresponding target support height, so that the projection point moves from the current position to the target position.

Wherein, the control device is configured to: acquire the position of each of the feet on the support reference plane; construct a convex polygon based on the position, and construct the largest one of the convex polygons corresponding to the position associated with the position The foot is configured as the first controlled foot, and the effective field is formed by the area map of the largest one of the convex polygons.

Wherein, each of the supporting feet is configured to have an adjustable supporting force, and when the number of the supporting feet other than the first controlled supporting feet is not less than three, the control device is configured to: based on the first controlled supporting feet The position of the foot other than the control foot constructs another convex polygon, and the foot associated with the position corresponding to the other convex polygon constructed as the largest one is configured as the second controlled foot; When the projected point falls into another effective domain formed by the largest one of the area mapping of the other convex polygon: obtain the total mass of the slave operating device; obtain each of the second controlled feet and the the first positional relationship of the projection points; obtain the target support force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass; control the direction of each of the second controlled legs The support surface protrudes and generates a support force matching the corresponding target support force value.

Wherein, the step of obtaining the target support force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass is specifically: constructing a structure according to the first positional relationship and the total mass The moment balance equation of the two orthogonal directions of the support reference plane is used to obtain the target support force value expected to be generated by each of the second controlled feet.

Wherein, the slave operating device is jointly supported by the passive support force provided by the first controlled foot and the active support force provided by the second controlled foot, according to the first positional relationship and the total mass The step of obtaining the target support force value expected to be generated by each of the second controlled feet includes: obtaining a first value of the sum of the active support force expected to be generated by each of the second controlled feet relative to the gravity of the slave operating device. ratio, the value range of the first ratio is between 0 and 1; combining the first ratio, the first positional relationship and the total mass to obtain the expected output of each of the second controlled feet Target support value.

Wherein, after the step of obtaining the target supporting force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass, the step includes: detecting whether there is the target supporting force exceeding the supporting force threshold value value; if present, set the target support force value of the second controlled foot that exceeds the support force threshold to the support force threshold, based on the support force threshold of the second controlled foot that exceeds the support force threshold and The target supporting force values of the remaining second controlled legs are re-obtained in combination with the first positional relationship and the total mass, and the above steps are repeated until all the target supporting force values do not exceed the supporting force threshold.

Wherein, the step of obtaining the target supporting force value expected to be generated corresponding to each of the second controlled legs according to the first positional relationship and the total mass includes: according to the first positional relationship and the The total mass obtains the target support force value expected to be generated by each of the second controlled legs, and the constraint condition includes that the target support force value expected to be generated by each of the second controlled legs does not exceed the support force it can generate threshold.

Wherein, the second controlled support leg includes a lift portion and a drive portion coupled with the lift portion, the drive portion is coupled with the control device, and the drive portion drives the drive portion under the control of the control device The elevating part expands and contracts and adjusts the supporting force of the elevating part.

Wherein, the second controlled support foot further includes a braking part, the braking part is coupled with the lifting part or the driving part, and the braking part is coupled with the control device, the braking part It is used to lock the driving part or the lifting part, start each of the second controlled feet to extend toward the support surface, and control each of the second controlled feet to generate a support that matches the corresponding target support force value force, including: detecting whether each of the driving parts reaches the corresponding target support force value at the same time; if so, stopping the action of each of the driving parts, and controlling the action of each of the braking parts to maintain the second receiving force Control the current support position and support force value of the support feet.

The present application also provides a control device for a surgical robot, the surgical robot includes a slave operation device, and the slave operation device has a plurality of legs at the bottom, the legs are configured to support an adjustable height, and the control device is respectively connected with Each of the legs is coupled, and at least some of the legs are configured as first controlled legs, and the control device is configured to: obtain the projection point of the total center of mass of the slave operating device on the support reference plane; When the projected point falls into the understable area within the effective area of the support reference plane, the height of each of the first controlled support feet is adjusted so that the projected point falls into the stable area of the effective area.

The present application also provides a control method for a surgical robot, the surgical robot includes a slave operation device, the slave operation device has a plurality of legs at the bottom, the legs are configured to support an adjustable height, and the control devices are respectively connected with Each of the legs is coupled, and at least some of the legs are configured as first controlled legs, and the control method includes the steps of: obtaining the projection point of the total center of mass of the slave operating device on the supporting reference plane; When the projected point falls within the less stable region of the effective region of the supporting reference plane, the height of each of the first controlled support feet is adjusted so that the projected point falls within the stable region of the effective region.

The present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the control described in any of the above embodiments steps of the method.

The surgical robot and its control device and control method of the present application have the following beneficial effects:

When it is detected that the projection point of the total centroid of the slave operating device on the support reference plane falls within the effective field that is also in the support reference plane, adjusting the projection point to fall within the stable field of the effective field from the current position, the projection point can be adjusted from the opposite edge to the stable field of the effective field. The area of is converged to a relatively central area, which can strengthen the support stability and ensure the safety of operating equipment.

Description of drawings

FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot of the present application;

Fig. 2 is a partial schematic view of the surgical robot shown in Fig. 1;

Fig. 3 is a partial schematic view of the surgical robot shown in Fig. 1;

Fig. 4 is a partial schematic diagram of the chassis of the slave operating device of the surgical robot shown in Fig. 1;

FIG. 5 is a schematic diagram of the joint principle of the slave operating device of the surgical robot shown in FIG. 1;

FIG. 6 is a flowchart of an embodiment of the surgical robot control method shown in FIG. 1;

Figures 7(a)-(f) are schematic layout diagrams of one embodiment of the chassis feet in the slave operating device of the surgical robot shown in Figure 1;

FIG. 8 is a flowchart of an embodiment of the surgical robot control method shown in FIG. 1;

9 is a schematic structural diagram of an embodiment of the chassis of the slave operating device of the surgical robot shown in FIG. 1;

FIG. 10 is a flowchart of an embodiment of the surgical robot control method shown in FIG. 1;

11 is a schematic diagram of the working principle of the surgical robot control method shown in FIG. 1;

FIG. 12 is a flowchart of an embodiment of the surgical robot control method shown in FIG. 1;

13(a)-(d) are schematic diagrams of different installation states and position states inside the power mechanism of the slave operating device of the surgical robot shown in FIG. 1;

14 to 20 are flowcharts of an embodiment of the method for controlling the surgical robot shown in FIG. 1;

21 to 24 are flowcharts of another embodiment of the method for controlling the surgical robot shown in FIG. 1 ;

25 to 26 are flowcharts of another embodiment of the surgical robot control method shown in FIG. 1 ;

FIG. 27 is a schematic structural diagram of the control device of the surgical robot shown in FIG. 1;

FIG. 28 is a schematic structural diagram of another embodiment of the slave operating device in the surgical robot of the present application;

Fig. 29 is a partial schematic view of the surgical robot shown in Fig. 28;

FIG. 30 is a flowchart of an embodiment of the method for controlling the surgical robot shown in FIG. 28 .

detailed description

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is 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 referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is considered 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 the purpose of illustration only and do not represent the only embodiment. The terms "distal end" and "proximal end" are used herein as orientation words, which are commonly used in the field of interventional medical devices, wherein "distal end" means the end away from the operator during surgery, and "proximal end" means surgery 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 this application belongs. The terms used herein in the specification of the present application are for the purpose of describing particular embodiments only, and are not intended to limit the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in FIG. 1 to FIG. 4 , which are respectively a schematic structural diagram and a partial schematic diagram of an embodiment of the surgical robot of the present application.

The surgical robot includes a master console 2 and a slave operation device 3 . The master console 2 has a handle 21 and a display 22. The doctor sends a control command to the slave operation device 3 through the operation handle 21, so that the slave operation device 3 performs the corresponding operation according to the control command of the doctor's operation handle 21, and observes the operation area through the display 22. , wherein the handle 21 can move and rotate freely, so that the doctor has a larger operating space. For example, the handle 21 is connected with the main console 2 through a connection line. The slave operating device 3 has a plurality of articulated arms 301 to 306 , the proximal articulated arm 301 has a plurality of auxiliary supports 200 and a plurality of legs 300 at the bottom, and the distal articulated arm 306 is used to detachably set the operating arm 31 . In one embodiment, the proximal articulated arm 301 is a base, and the distal articulated arm 306 is a power mechanism. In some embodiments, these auxiliary supports 200 only provide auxiliary support, and they can also be configured to provide auxiliary support on the one hand, and wheels for providing and moving on the other hand. In some embodiments, the supporting feet 300 are configured to be telescopically adjustable and the supporting force adjustable, the telescopically adjustable means that the supporting height can be controlled electrically, and the adjustable supporting force means that the supporting force can be electrically controlled. The operating arm 31 includes a connecting rod 32, a connecting assembly 33 and an end device 34 that are connected in sequence, wherein the connecting assembly 33 has a plurality of joint assemblies, and the operating arm 31 adjusts the posture of the end device 34 by adjusting the joint assemblies; the end device 34 has an image end Instrument 34A and operation end instrument 34B. In other embodiments, the handle 21 can also be connected to the main console 2 through a rotating link.

The surgical robot includes a control device, and the control device is configured to be coupled with the supporting feet 300, the articulated arms 301-306 and other components to receive, process and send relevant instructions. The articulated arms are provided with position sensors for detecting the joint angles of the articulated arms, and the coupling between the control device and these articulated arms can be regarded as at least the coupling between these position sensors.

In one embodiment, the control device can be integrated into the master console 2 or the slave operation device 3. If the control device is integrated into one or some articulated arms of the slave operation device 3, the mass and center of mass of the one or some articulated arms need to be This control device is taken into account.

In one embodiment, the control apparatus may also be set independently of the master console 2 and the slave operation device 3, and the control apparatus may be deployed locally or in the cloud.

In one embodiment, the control device may consist of more than one controller, such as one, two, or more.

The number of feet 300 may be more than one. Generally, there may be more than three legs 300 arranged in a non-linear arrangement. For example, three legs 300 may be provided. For another example, four, five or more supporting feet may be set. However, when the number of supporting feet 300 is more than four, redundancy may occur, and some redundant conditions not only increase hardware costs, but also may This results in an adverse effect of reducing the range of the effective field that follows and thus making the total centroid movement range from the operating device more limited. Therefore, at least some of the aforementioned plurality of feet 300 may be configured as controlled feet by the control device to avoid these adverse effects. Controlled feet are enabled feet; redundant feet are disabled feet, and these redundant feet can be understood as uncontrolled feet.

In some embodiments, the controlled feet may be manually configured by the operator, that is, the operator selects at least part of the feet 300 as the controlled feet. For example, a hardware switch or a software switch may be provided to enable at least some of the feet 300 as controlled feet.

In some embodiments, the first controlled feet may be automatically configured by the control device, that is, at least some of the feet 300 are automatically enabled as the first controlled feet according to a selection strategy. For example, referring to FIG. 6, the control device is configured to perform the steps of the following control method:

In step S10, the position of each support foot on the support reference plane is acquired.

Step S20 , constructing a convex polygon based on these positions, and configuring a support leg associated with a position corresponding to the largest convex polygon to be configured as a first controlled support leg.

The execution of step S10 and step S20 can realize the intelligent selection of the controlled foot, especially by configuring the built-in foot associated with the largest convex polygon as the controlled foot, which is helpful to make the effective field of the following. The range is maximized. When the projection point of the center of mass of the operating device on the support datum falls within the effective field, the support of the operating equipment is relatively stable and will not fall over, so that a larger effective field can be obtained. The movement of the robotic arm and/or the manipulating arm from the manipulating device is beneficial, which can allow a larger range of changes in the position of the center of mass of the manipulating device, and can reduce restrictions on the range of motion of the manipulating arm and/or manipulating arm. For example, usually the range of the largest convex polygon can completely correspond to the range of the effective field, and the largest convex polygon can be completely coincident with the effective field by, for example, a perspective method, thereby facilitating the definition of the effective field.

For example, as shown in FIG. 7( a ), when the number of the legs 300 is three: the three legs together form the largest convex polygon, so the three legs are all configured as the controlled legs 300a.

For example, as shown in Figures 7(b) and 7(c), when the number of legs 300 is four: in Figure 7(b), the three legs of the outer ring together form the largest convex polygon, so the outer ring The three legs are configured as the first controlled legs 300a; and in FIG. 7(c), the four legs together form the largest convex polygon, so the four legs are configured as the first controlled legs 300a .

For example, as shown in Figures 7(d) to 7(f), when the number of legs 300 is five or more: in Figure 7(d), the four legs of the outer ring together form the largest convex polygon, so the outer The four legs of the outer ring are configured as the first controlled leg 300a; in FIG. 7(e), the six legs of the outer ring together form the largest convex polygon, so the six legs of the outer ring are configured as the first controlled leg 300a. Controlling legs 300a; In FIG. 7(f), the four legs of the outer ring together form the largest convex polygon, so the four legs of the outer ring are configured as the first controlled legs 300a.

In other embodiments, no matter whether the first controlled feet are set manually or automatically, at least three feet can be arbitrarily selected as the first controlled feet without necessarily being able to construct a largest convex polygon. The position of the selected first controlled foot constructs the largest convex polygon that corresponds exactly to the effective domain it can form. For example, taking FIG. 7( f ) as an example, only three legs of the inner ring can be configured as controlled legs 300b, and the corresponding effective fields are formed by the mapping of the three controlled legs 300b.

In Fig. 7(c), Fig. 7(d) and Fig. 7(f), the configuration of the first controlled support 300a is the same in the non-redundant and redundant cases. The present application will be described with reference to the situation shown in FIG. 7( c ).

In one embodiment, the present application provides a way of changing the position of the center of mass to enhance the support stability of the surgical robot. Referring to Figure 8, the control device is configured to perform the following steps:

In step S1, the projection point of the total centroid of the operating device on the support reference plane is obtained.

The support reference plane can be understood as the plane of the base 301 . For example, when viewed from the base coordinate system of the operating device 2, the support reference plane is a plane formed by the orthogonal X axis and Y axis. The projection direction of the total centroid to the support plane is always the vertical direction, not the Z-axis direction of the support plane.

Step S2, when it is determined that the projection point falls within the less stable area of the effective area of the support reference plane, send a control command to adjust the height of each first controlled foot support so that the projection point falls within the stable area of the effective area.

A projected point is a point that is mapped to point coordinates in the support datum.

FIG. 9 shows an embodiment of the bottom structure of the chassis, which includes four wheels 200 and four legs 300. Since the four legs can form a maximum convex polygon as shown in FIG. 7(c), they are all configured as the first A controlled leg 300a, the maximal convex polygon is mapped to the aforementioned effective field 4. The effective field 4 is a face that includes an understability field 41 and a stable field 42 nested within the understability field 41 , and the stable field 42 usually does not coincide with the understability field 41 . The effective region 4 is a closed region, the stable region 42 is also a closed region, and the under-stable region 41 is an region between the two closed regions. The stable domain 42 is defined by the boundaries that constitute its closed interval, and the under-stable domain 41 is defined by the boundary of the closed interval that constitutes the effective domain 4 and the closed interval that constitutes the stable domain 42 . It is worth noting that the under-stable domain 41 includes the effective domain 4 and does not contain the boundary of the stability domain 42 . Both the under-stable domain 41 and the stable domain 42 can be mapped as boundary coordinates in the support datum. Furthermore, it can be determined which area the projection point falls into by judging which enclosed boundary coordinates the projection point falls into.

Referring to FIG. 10, the above step S2, that is, the step of sending a control command to adjust the height of each first controlled foot support so that the projection point falls within the stable field of the effective field, includes:

Step S21, acquiring the target position where the desired projection point falls into the stable domain.

The target position can be flexibly set by operator input, for example, setting an input device such as a touch screen coupled with the control device, the touch screen displays the effective field (including the unstable field and the stable field) from the operating device, and the user inputs through the touch screen such as by Double-click the target position selected in the stable field. In addition, the movement trajectory of the projection point can be displayed in real time through an output device such as a touch screen to reflect the change of the total center of mass on the support reference plane for the operator to watch.

Of course, the target location can also be defined by a system file. The target location may be a point on the boundary of the stability domain. The target location can also be a point within the boundary of the stability domain.

In some embodiments, the target location is the closest point to the projected point within the stability domain. In some embodiments, the target location is the most central point within the stability domain. In other embodiments, the point may also be another defined point.

Step S22, sending a control instruction to adjust the height of each first controlled support foot so that the projection point moves from the current position to the target position.

A schematic diagram of the effect of adjusting the projection point from the current position to the target position in the above steps S21 and S22 is shown in FIG. 11 . Among them, in the current state, the projection point of the total centroid G projected to the support reference plane is p0. If p0 is located in the set under-stable domain, it is expected to move the projection point of the total centroid G from p0 to the target position p1 located in the stable domain. , by adjusting the height supported by each of the first controlled feet 300a, the support reference plane is rotated from the current state to the target state to change the inclination angle of the support reference plane, so that the projection point of the total center of mass G is moved from its current position p0 to the target position p1, which in turn causes the slave operating device 3 to move from a less stable state to a more stable state.

In some embodiments, referring to FIG. 12 , the above-mentioned step S1, that is, the step of obtaining the projection point of the total center of mass of the slave operating device on the support reference plane, includes:

In step S11, the sub-mass of each articulated arm and the sub-centroid of each articulated arm are obtained in the space position of the first sub-centroid of the link coordinate system of the corresponding articulated arm.

The sub-mass and sub-center of mass of the articulated arm can usually be obtained from the link parameters of the articulated arm, which have been considered from the beginning of the design of the operating equipment.

In step S12, the joint positions of each articulated arm in the reference coordinate system are acquired.

The joint positions are obtained from sensors provided on each articulated arm, for example, these sensors may be encoders of servo motors that drive the movement of the articulated arms. In the embodiment shown in FIGS. 1 and 5 , all the articulated arms 301 to 306 of the operating device 3 together form 5 degrees of freedom, and each sensor can collect such a group of articulated arms except the base 301 . Position information (d1, θ ₂ , θ ₃ , θ ₄ , θ ₅ ).

This reference coordinate system can be defined as the base coordinate system of the base.

Step S13, combining the first centroid space position of each articulated arm and the corresponding joint position to obtain the second centroid space position of the corresponding joint arm in the reference coordinate system.

The second centroid spatial position can generally be obtained by forward kinematics.

Step S14, combining the sub-mass of each articulated arm and the spatial position of the second sub-centroid to obtain the spatial position of the total centroid in the reference coordinate system through a multi-body centroid solution method.

Step S15, converting the total centroid space position of the total centroid in the reference coordinate system into a projection point on the support reference plane.

和位置坐标

关节臂i的质心相对于关节臂i的连杆坐标系{J _i}的局部坐标

因此关节臂i的质心相对于参考坐标系{B}的位置坐标p _i为： The slave operating device shown in FIGS. 1 and 5 includes six articulated arms (including a base). The base is assumed mass m _0, the remaining five articulated arm composed of the actual controllable robot arm, the quality of these articulated arm manipulator are constituted m _{i (i} = 1,2,3,4,5), joint The rotation transformation matrix of the link coordinate system {J _i } of the arm i relative to the reference coordinate system {B}

and location coordinates

The local coordinates of the center of mass of the articulated arm i relative to the link coordinate system {J _{i } of the articulated arm i}

_{Therefore, the position coordinate p i} of the center of mass of the joint arm i relative to the reference coordinate system {B} is:

In some embodiments, referring to FIG. 13 , the power mechanism 306 includes a casing 3061 , one or more guide rails 3062 disposed in the casing 3061 , and a power part 3063 slidably disposed on the corresponding guide rail 3062 , and the power part 3063 is used for detachable The operating arm 31 is provided and driven. The change of the internal state of the power mechanism 306 will cause the change of the load, thereby causing the change of the position of the center of mass of the operating device 3, and the inventors of the present application expect to eliminate this adverse effect.

Further, the above-mentioned step S11, that is, the step of obtaining the sub-mass of each articulated arm and the sub-centroid of each articulated arm in the space position of the first sub-centroid of the link coordinate system of the corresponding articulated arm, includes the following two steps:

The sub-mass of each non-distal joint arm and the spatial position of its first sub-centroid are obtained from the database.

The sub-mass of the distal articulated arm and the spatial position of the first sub-centroid of the distal articulated arm are acquired according to the installation state information and the position state information inside the distal articulated arm.

The installation state information is related to the installation state of the operating arm 31 on each power unit 3063 , and the position state information is related to the position state of each power unit 3063 relative to the corresponding guide rail 3062 . The installation state information includes information on whether each power unit 3063 is provided with the operating arm 31, and/or information on the type of the operating arm 31 provided on each power unit 3063. Since the changes of these positional states and installation states usually change the mass and the position of the center of mass of the distal articulated arm (ie, the power mechanism) 306, the mass and mass of the distal articulated arm can be obtained in real time and accurately through the above step S112. Location.

Exemplarily, in Fig. 13(a), each power part 3063 is not provided with an operating arm; in Fig. 13(b), a power part 3063 is provided with an operating arm 31; in Fig. 13(b), four power parts 3063 are provided on An operating arm 31 is provided on each, and the four power parts 3063 are in the same position relative to the corresponding guide rails 3062; in FIG. 13(d), an operating arm 31 is also set on the four power parts 3063, but one of The positional states of the parts relative to the corresponding guide rails are different from the positional states of the remaining power parts relative to the corresponding guide rails. Fig. 13 assumes that the type of operating arm provided on the power unit does not affect the change of the center of mass, which can basically reflect different state changes inside the power mechanism. In fact, the different types of operating arms provided on the power part will also affect the change of the center of mass to different degrees.

Continuing to refer to FIG. 1 and FIG. 5 , each articulated arm can be divided into a proximal articulated arm (i=0, namely the base), a middle articulated arm (i=1, 2, 3, 4) and a distal articulated arm arm (ie power mechanism). It is still assumed that the mass of the base is m ₀ , and the masses of the joint arms in the middle are respectively m _i (i=1, 2, 3, 4), and it is assumed that the mass of the power mechanism can be obtained according to the above steps as m _d , and the power mechanism can be obtained in the reference coordinate system {B}

In some embodiments, the operating arm 31 has a storage element (not shown) that stores the type information of the operating arm, each power part is provided with an identification element (not shown) coupled with the control device and with the storage unit, a guide rail or The power part is provided with a position sensor (not shown) coupled with the control device. Referring to Figure 14, the above-mentioned steps of obtaining the sub-mass of the distal articulated arm and the spatial position of the first sub-centroid of the articulated arm according to the installation state information and position state information inside the distal articulated arm include:

Step S1121 , acquiring the installation state information inside the distal joint arm detected by the identification element and the position state information inside the distal joint arm detected by the position sensor.

The sub-mass of the distal articulated arm includes its body mass and the mass of the operating arm disposed thereon, wherein the sub-mass of the operating arm can also be acquired by the identification unit according to the type of the detected operating arm.

Step S1122, calling a matching parameter calculation model among the pre-built multiple parameter calculation models according to the installation state information inside the distal joint arm.

Wherein, each parameter calculation model is respectively associated with the sub-mass corresponding to different position states and the spatial position of the first sub-centroid of the distal joint arm in one installation state.

Step S1123: Obtain the sub-mass of the distal articulated arm and the spatial position of the first sub-centroid of the distal articulated arm according to the called parameter calculation model and the position state information inside the distal articulated arm.

In some embodiments, the slave operating device 3 further has an angle detection element, and the angle detection element can be disposed on the chassis or the articulated arm, for example, and the control device is coupled with the angle detection element. Referring to FIG. 15, the above step S14, that is, the step of obtaining the total centroid space position of the total centroid in the reference coordinate system, includes:

In step S141, the inclination angle of the support surface detected by the angle detection element is acquired.

Step S142, combining the inclination angle, the sub-mass of each articulated arm and the spatial position of the second sub-centroid to obtain the total centroid spatial position of the total centroid of the operating device in the reference coordinate system through the multi-body system centroid solution method.

Through the above steps S141 and S142, when the supporting reference plane is inclined or slightly inclined, the total centroid space position of the slave operating device can be accurately obtained.

Wherein, the inclination angle obtained in step S141 generally includes a first inclination angle of the support reference plane between the first orthogonal direction and the horizontal plane, and a second inclination angle between the second orthogonal direction and the horizontal plane. The first inclination angle and the second inclination angle can determine the attitude of the support reference plane.

In some embodiments, the projection point from the total centroid of the operating device on the support datum can also be obtained in other ways. For example, when there are no wheels at the bottom of the chassis or the wheels do not provide support, at least each of the first controlled feet 300a is provided with a pressure sensor (not shown) coupled with the control device. Generally, a pressure sensor may be provided on each of the legs 300 . Referring to FIG. 16, the above step S1, that is, the step of obtaining the projection point of the total centroid of the slave operating device on the support reference plane, includes:

Step S11', acquiring the pressure value detected by each pressure sensor.

Steps These pressure sensors refer to the pressure sensors on the first controlled foot.

Step S12', obtain the total mass of the slave operating equipment.

The total mass of the slave operating device can also be obtained by obtaining the sub-mass of each articulated arm and then summing it up; or, by summing the vertical direction components of the pressure values detected by each pressure sensor.

Step S13', obtaining the fulcrum position of each first controlled support foot on the support reference plane.

Step S14', combining each pressure value, total mass and fulcrum position to construct a moment balance equation in two orthogonal directions in the support datum plane to obtain a projection point.

The moment balance equation involved in step S14' is expressed as:

∑Fx=0 (4)

∑Fy=0 (5)

∑Mx=0 (6)

∑My=0 (7)

Among them, it is assumed that the x-axis direction that defines the support reference plane is the first orthogonal direction, the y-axis direction is the second orthogonal direction, and ∑Fx is the support force and gravity received from the operating device in the first orthogonal direction of the support reference plane ∑Fy is the resultant force of the supporting force from the operating equipment and the gravity in the second orthogonal direction of the supporting datum plane; ∑Mx is the supporting force and the gravitational force received from the operating equipment in the first orthogonal direction of the supporting datum plane The resultant moment relative to the target position; ∑My is the resultant moment relative to the target position in the second orthogonal direction of the support reference plane from the support force and gravity received from the operating device.

In order to increase the mobility from the operating device, a plurality of wheels are usually arranged at the bottom of the proximal joint arm, which facilitates movement on the one hand and can also provide passive support on the other hand. In some embodiments, each wheel is also provided with a pressure sensor coupled with the control device to detect the passive support force provided by the wheel, that is, all fulcrums are provided with pressure sensors. In this case, the steps included in step S1 of obtaining the projection point of the total center of mass of the operating device on the support reference plane are basically the same as steps S11' to S14'. The only difference is that: in step S11', the referred pressure sensor includes each first controlled foot and all pressure sensors on the wheel; and in step S13', the referred fulcrum position includes each first controlled foot and The fulcrum position of the wheel on the support plane.

In an embodiment, specifically in the embodiment in which the projection point of the total centroid of the operating device on the support reference plane is obtained through the above steps S11 to S15, please refer to FIG. 17, the above step S22 is to send a control command to adjust each first The height supported by the controlled feet makes the projection point move from the current position to the target position, which can be achieved by the following steps:

In step S221, the distance between the projection point on the support reference plane and the target position is obtained.

For example, this step may specifically be: obtaining a first distance in a first orthogonal direction and a second distance in a second orthogonal direction between the projection point of the support reference plane and the target position.

In step S222, the height between the projection point of the reference coordinate system and the total centroid is obtained.

Step S223: Determine the target inclination angle of the support reference plane according to the distance and the height.

For example, this step may specifically be: determining a first target inclination angle of the support reference plane in the first orthogonal direction and a second target inclination angle in the second orthogonal direction according to the first distance and height.

Continuing to refer to FIG. 11 , since the height of the total centroid to the support reference plane is known, and the distance between the current position of the projection point and the target position is known, the target inclination angle can be easily obtained according to the principle of similar triangles.

Step S224: Adjust the height of each first controlled support foot according to the target inclination angle so that the projection point moves from the current position to the target position.

For example, this step may specifically include: adjusting the height of each of the first controlled support legs according to the first target inclination angle and the second target inclination angle, so that the projection point moves from the current position to the target position.

This step S224 can be implemented by performing the following steps:

The target support height of each of the first controlled legs is obtained according to the target inclination angle, and then the height of each of the first controlled legs is adjusted according to the corresponding target support height so that the projection point moves from the current position to the target location.

Referring to FIG. 18 , the above-mentioned step S224 can be more specifically implemented by performing the following steps:

Step S2241: Obtain the normal vector of the target support surface according to the target inclination angle (ie, the first target inclination angle and the second target inclination angle).

Wherein, the target inclination angle is the angle between the projection of the normal vector on the support reference plane and the two orthogonal directions. For example, the first target inclination angle is the angle between the projection of the normal vector and the first orthogonal direction, The second target tilt angle is the angle between the projection of the normal vector and the second orthogonal direction.

Step S2242: Obtain a plane set including the target support surface according to the normal vector.

Among them, assuming that the normal vector is (A, B, C), this plane set can be described by a general plane formula, for example:

K(Ax+By+Cz+D)=0 (8)

All planes satisfying the above formula (8) belong to the target support plane, so the plane set can be obtained according to the normal vector.

Step S2243, obtaining the target support height supported by each of the first controlled legs according to the optimization strategy.

The optimization strategy includes, but is not limited to, defining an optimization problem, such as: defining the objective function as the minimum sum of the heights of each target support; and defining constraints, such as: each target support height is greater than or equal to zero and less than or equal to a height threshold, and associated with the target support height The target coordinates of the first controlled foot of , satisfy formula (8).

Assuming that there are four first controlled legs, for example, the origin coordinates of each first controlled leg i on the support reference plane can be defined as ( _xi , y _i , 0), i=1, 2, 3, 4. When the first controlled foot i is supported, x _i and y _i remain unchanged, and only change incrementally in the z-axis direction, and the value in the z-axis direction reflects the aforementioned target support height.

Step S2244: Adjust the height of the corresponding first controlled support foot support according to each target support height.

Then, the effect of adjusting the projection point to move from the current position to the target position is realized.

The above steps S2241 to S2244 can actually obtain the desired target support height of each first controlled foot by constructing a coplanar equation and searching according to the combination of the input target inclination angle and the set optimization strategy.

In the embodiment in which the projection point of the total centroid of the operating device on the support reference plane is obtained through steps S11 to S15 or through steps S11 ′ to S14 ′, please refer to FIG. 19 , the above step S22 is to send a control command The steps of adjusting the height supported by each first controlled foot to move the projection point from the current position to the target position can be achieved by the following steps:

Step S221', obtain the position vector from the projection point to the target position on the support reference plane.

The position vector includes distance and direction. For example, this step may specifically be: obtaining a first position vector in a first orthogonal direction and a second position vector in a second orthogonal direction from the projection point to the target position on the support reference plane.

Step S222', determining the incremental adjustment direction supported by each of the first controlled feet according to the position vector.

For example, this step may specifically be: determining, according to the first position vector, the first incremental adjustment direction of each of the first controlled feet relative to the first orthogonal direction, and the second incremental adjustment direction associated with the second orthogonal direction Adjust the direction.

Step S223', according to the incremental adjustment direction, adjust the incremental height corresponding to each first controlled foot support in an incremental manner until the projection point moves from the current position to the target position.

For example, this step may specifically be as follows: according to the first incremental adjustment direction and the second incremental adjustment direction, the incremental height corresponding to each of the first controlled foot supports is incrementally adjusted until the projection point moves from the current position to the target Location.

Please refer to FIG. 20 , in the above step S223 ′, that is, according to the incremental adjustment direction, the incremental height corresponding to each first controlled foot support is adjusted incrementally until the projection point moves from the current position to the target position. Do this by performing the following steps:

Step S2231': Determine the incremental target inclination angle according to the incremental adjustment direction (ie, the first incremental adjustment direction, the second incremental adjustment direction).

Step S2232', obtain the normal vector of the target support surface according to the incremental target inclination angle (that is, the first incremental target inclination angle, the second incremental target inclination angle).

Step S2233', obtain a plane set including the target support surface according to the normal vector.

Step S2234', obtaining the target support height supported by each of the first controlled feet according to the optimization strategy.

Step S2235', adjust the height of the corresponding first controlled foot support according to each target support height.

Step S2236', obtain the projection point of the total centroid of the current slave operating device on the support reference plane, and determine whether the projection point reaches the target position.

Wherein, obtaining the projection point of the total centroid of the current slave operating device on the support reference plane can be obtained by any of the above embodiments.

If it is determined in step S2236' that the projection point has reached the target position, the adjustment is ended; otherwise, it returns to step S221' to continue the adjustment.

In the embodiment in which the support stability of the surgical robot is enhanced by changing the position of the centroid, when it is detected that the projection point of the total centroid of the operating device on the support reference plane falls within the effective field that is also in the support reference plane The projection point falls into the stable area of the effective area from the current position, and the projection point can be retracted from the relative edge area to the relative center area, thereby enhancing the support stability and ensuring the safety of operating equipment.

In one embodiment, the present application further provides a method of changing the support force without changing the position of the center of mass to enhance the support stability of the surgical robot.

Referring to Figure 21, the control device is configured to perform the following steps:

Step S1', obtain the projection point of the total mass of the operating device and its total center of mass on the support reference plane.

The support reference plane can be understood as the plane of the base 301 . For example, when viewed from the reference coordinate system of the operating device 2, the support reference plane is a plane formed by the orthogonal X-axis and Y-axis. The projection direction of the total centroid to the support plane is always the vertical direction, not the Z-axis direction of the support plane.

The projected point is a point that is mapped to point coordinates in the support datum.

Wherein, the step of obtaining the projection point of the total center of mass of the operating device on the support reference plane can be achieved by referring to the foregoing embodiments as shown in FIGS. 12 to 16 , and details are not repeated here.

Step S2', obtaining the first positional relationship between each controlled foot and the projection point in the support reference plane.

Step S3', according to the first positional relationship and the total mass, the target supporting force value expected to be generated by each controlled support foot is obtained.

For example, in this step, each target support force value can be obtained by constructing a moment balance equation in two orthogonal directions of the support reference plane. The target support force value is usually a value not less than 0.

The moment balance equation is related to four parameters: the gravity of the slave operating equipment, the position of each controlled foot on the support reference plane, the projection point of the slave operating equipment on the support reference plane and the supporting force of the fulcrum (including the controlled feet and/or wheels). , according to any known three parameters, the remaining one parameter can be solved. For example, knowing the gravity of the operating device, the position of the controlled feet on the supporting datum, and from the projection point of the operating device on the supporting datum, the supporting force of the fulcrum can be solved. In this step, the fulcrum is the controlled foot, so the active support force expected to be generated by each controlled can be solved.

Step S4', control each controlled foot to extend toward the support surface and generate a support force matching the corresponding target support force value.

The support surface is a surface that carries the surgical robot, for example, the support surface is the ground. An example of the controlled support foot here is the first controlled support foot 300a described above.

In some embodiments, in the initial state, at least part of the wheels may provide auxiliary support, and during adjustment, each controlled foot is used for active support.

Continuing to refer to the embodiment of a chassis bottom structure as shown in FIG. 9 , step S4 mainly controls the expansion and contraction of the four controlled feet 300 a that can form a maximum convex polygon as shown in FIG. 7( c ) and controls the four controlled feet 300 a support.

In some embodiments, the slave operating device is jointly supported by the passive support provided by the wheels 200 and the active support provided by the controlled feet 300a. Referring to Figure 22, the above-mentioned step S3', that is, the step of obtaining the target support force value expected to be generated by each controlled support foot according to the first positional relationship and the total mass, includes:

Step S31', obtaining the first ratio of the sum of the active supporting forces expected to be generated by the controlled feet relative to the gravity of the slave operating device, and the value range of the first ratio is between 0 and 1.

The first ratio can be freely defined by the operator, and can be any value between [0,1], such as 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1. This first scale can also be set by default by a system configuration file.

Step S32', combining the first ratio, the first positional relationship and the total mass to obtain the target support force value expected to be generated by each controlled support foot.

In some embodiments, continuing to refer to FIG. 22 , after the above-mentioned step S3', that is, the step of obtaining the target support force value expected to be generated by each controlled support foot according to the first positional relationship and the total mass, it includes:

Step S33', detecting whether there is a target support force value exceeding the support force threshold value.

If it exists, go to step S34'; otherwise, go to step S4'.

Step S34 ′, set the target support force value of the controlled foot that exceeds the support force threshold value as the support force threshold value, based on the support force threshold value of these controlled feet that exceed the support force threshold value and combine the first position relationship and the total mass to regain the rest of the support force. The target support force value of the control foot.

Repeat the above steps S33' and S34' until all target support force values do not exceed the support force threshold.

In some embodiments, referring to FIG. 23 , the above-mentioned step S32', after the step of obtaining the target support force value expected to be generated by each controlled foot in combination with the first proportional value, the first positional relationship and the total mass, includes:

Step S321', acquiring the pressure value detected by each pressure sensor.

Step S322', according to whether the pressure value is less than the pressure threshold value, to detect whether there is a floating wheel in the wheel.

The floating wheel refers to the wheel with zero force or less than the pressure threshold. For example, the suspended wheel belongs to the floating wheel.

In step S322', if there is a floating wheel, go to step S323'; otherwise, go to the above-mentioned step S4'.

Step S323 ′, according to the position of the floating wheel and each controlled foot on the support reference plane, determine the controlled foot that is closest to the floating wheel, and obtain the expected incremental support force value corresponding to the controlled foot that is closest to the floating wheel .

Step S324', update the current target supporting force value of the controlled foot that is closest to the floating wheel, and the sum of the target supporting force value obtained at the previous moment of the corresponding controlled foot and the incremental supporting force value.

In this step S324', the target supporting force values of the remaining controlled feet remain unchanged, that is, they usually do not need to be updated.

After step S324', the same goes to step S4'.

In some embodiments, referring to FIG. 24, in step S323', that is, the step of obtaining the expected incremental support force value corresponding to the controlled foot closest to the floating wheel, including:

Step S3231', obtaining a second proportional value of the sum of the passive support forces expected to be generated by each wheel relative to the gravity of the slave operating device.

The sum of the first proportional value and the second proportional value is 1.

Step S3232', obtain the second positional relationship between each wheel and the projection point in the support reference plane.

Step S3233', combining the second proportional value, the second positional relationship and the total mass to obtain the expected passive support force value of the corresponding wheel.

In step S3234', the incremental support force value is obtained according to the passive support force value corresponding to the floating wheel and the third positional relationship between the floating wheel and the controlled foot closest to the floating wheel in the support reference plane.

In some embodiments, each of the controlled legs in the above embodiments includes a lift portion and a drive portion coupled to the lift portion, and the drive portion is coupled to the control device, and the drive portion drives the lift portion to expand and contract and adjust the lift portion under the control of the control device. of support. For example, the lifting part can be realized by a screw pair or a rack and pinion or a hydraulic cylinder or a pneumatic cylinder; corresponding to the lifting part being a screw pair or a rack and pinion, the driving part adopts a motor, which is adjusted by the forward rotation and reverse rotation angle of the motor The support height is adjusted by the torque of the motor; corresponding to the hydraulic cylinder or pneumatic cylinder, the driving part adopts a solenoid valve, and the flow control of the solenoid valve is used to adjust the support height and support force; for another example, the lift part And the driving part can be jointly realized by a linear motor.

Further, each controlled support foot further includes a braking portion, the braking portion is coupled with the lifting portion or the driving portion, and the braking portion is coupled with the control device, and the braking portion is used for locking the driving portion or the lifting portion, for example, the braking portion The part can be realized with a holding brake. Above-mentioned step S4 ', namely controlling each controlled foot to extend to the support surface and generating the supporting force matched with the corresponding target supporting force value among the steps, including:

Detect whether the driving part of each controlled foot simultaneously reaches the corresponding target supporting force value.

If yes, stop the action of the driving part of each controlled foot, and control the action of the braking part of each controlled foot to maintain the current supporting position and supporting force value of each controlled foot.

The adjustment of the active support force of each controlled foot in the above embodiments is usually a one-time adjustment as required before each use of the slave operating device. In one embodiment, before the next adjustment of the support force of the controlled foot, the First retract each controlled foot away from the support surface, eg, return to the origin of the controlled foot. In some embodiments, it is also possible to dynamically adjust the slave operating device in real time during use to adapt to the dynamic change of the total centroid position of the slave operating device during use. In one embodiment, each controlled support foot does not need to shrink away from the support surface. For example, returning to the origin of the controlled foot and changing directly dynamically, in the embodiment of adjusting the supporting force in real time, it is usually assisted by the wheel, that is, the passive support.

In the embodiment in which the support stability of the surgical robot is enhanced by changing the support force without changing the position of the center of mass, the total mass of the slave operating device, the projection point of the total center of mass on the support reference plane, and the relationship between each controlled foot and the The positional relationship between the projection points determines the target support force value expected to be generated by each controlled foot, and then controls each controlled foot to protrude to the support surface and controls each controlled foot to generate the corresponding target support force value, which can be used to control the operation from the operation. The equipment is actively supported, thereby strengthening the support stability of the operating equipment.

In some embodiments, the support stability of the surgical robot can be further enhanced by changing the support force based on the change of the position of the centroid. For example, in the case where the supporting feet 300 are sufficiently redundant, for example, when the number of supporting feet other than the first controlled supporting foot 300a is not less than three, please refer to FIG. 25 , after step S2, the control device may be configured to execute Follow the steps below:

Step S31 , construct another convex polygon based on the positions of the legs other than the first controlled leg, and configure the leg associated with the position corresponding to the largest one of the other convex polygons as the second controlled leg.

Continuing to refer to FIG. 7( f ), the redundant legs in FIG. 7( f ) can constitute the second controlled leg 300b. Another effective field formed by another maximal convex polygon map associated with the second controlled leg 300b must lie within and may partially coincide with the effective field formed by the maximal convex polygon map associated with the first controlled leg 300a or not coincident at all.

Step S32, it is judged whether the projection point falls into another valid area.

The further effective field is formed by the largest one of the area maps of the other convex polygon. In step S32, if the projection point falls into another valid domain, then go to step S33; otherwise, end the process.

In step S33, the total mass of the slave operating equipment is obtained.

Step S34, obtaining the first positional relationship between each of the second controlled feet and the projection point on the support reference plane.

In step S35, the target supporting force value expected to be generated by each of the second controlled feet is obtained according to the first positional relationship and the total mass.

The step is specifically: constructing moment balance equations in two orthogonal directions of the support reference plane according to the first positional relationship and the total mass to obtain the target support force value expected to be generated by each of the second controlled feet. Specifically, the above formulas (4) to (7) can be used. The target support force value is usually a value not less than 0.

More specifically, in this step, a target support force value expected to be generated corresponding to each of the second controlled legs can be obtained according to the first positional relationship and the total mass under constraints. Examples of the constraint conditions include that the target support force value expected to be generated by each second controlled foot does not exceed the threshold value of the support force it can generate, and the sum of the target support force value expected to be generated by each second controlled foot does not exceed the threshold value from the operation The gravity of the device. As needed, the constraint condition can be further optimized, for example, other constraints can be added or the aforementioned constraints can be further refined.

Step S36, controlling each of the second controlled feet to extend toward the support surface to generate a support force matching the corresponding target support force value.

Through the above steps S31 to S36, the support stability can be enhanced by adjusting the active support force of the second controlled support foot without changing the position of the projection point of the total center of mass of the slave operating device on the support reference plane.

In some embodiments, the slave operating device is jointly supported by the passive support provided by the first controlled foot 300a and the active support provided by the second controlled foot 300b. Referring to FIG. 26, the above-mentioned step S35, that is, the step of obtaining the target supporting force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass, includes:

Step S351 , obtaining a first ratio of the expected sum of the active supporting forces generated by the second controlled feet to the gravity of the slave operating device, and the value of the first ratio ranges between 0 and 1.

The first ratio can be freely defined by the operator, and can be any value between [0,1], such as 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1. This first scale can also be set by default by a system configuration file.

Step S352, combining the first ratio, the first positional relationship and the total mass to obtain a target support force value expected to be generated by each of the second controlled legs.

In some embodiments, continuing to refer to FIG. 26 , after the above-mentioned step S35, that is, the step of obtaining the target support force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass, it includes:

Step S353, detecting whether there is a target support force value exceeding the support force threshold value.

If it exists, go to step S354; otherwise, go to step S36.

Step S354, setting the target support force value of each second controlled foot as a support force threshold, and based on the support force threshold of each second controlled foot and combining the first positional relationship and the total mass to re-obtain the targets of the remaining second controlled feet Support value.

The above steps S353 and S354 are repeated until all target support force values do not exceed the support force threshold.

In the embodiment in which each of the controlled feet includes the lifting part, the driving part and the braking part as described above, the above step S36 is to control each of the second controlled feet to protrude toward the support surface and generate a value matching the corresponding target support force. Among the steps of supporting strength include:

It is detected whether the driving part of each second controlled support foot simultaneously reaches the corresponding target support force value.

If yes, stop the action of the driving part of each of the second controlled legs, and control the action of the braking part of each of the second controlled legs to maintain the current supporting position and supporting force value of each of the second controlled legs.

The adjustment of the support height and/or the active support force in the above embodiments may be a real-time dynamic adjustment, or may be a one-time adjustment before each use of the slave operating device. In addition, the two can also be combined, for example, the support height is adjusted at one time and the active support force is dynamically adjusted in real time, or the support height is dynamically adjusted in real time and the active support force is adjusted at one time.

In some embodiments, as shown in FIG. 27 , the control device may include: a processor (processor) 501 , a communication interface (Communications Interface) 502 , a memory (memory) 503 , and a communication bus 504 .

The processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 .

The communication interface 502 is used to communicate with network elements of other devices such as various types of sensors or motors or solenoid valves or other clients or servers.

The processor 501 is configured to execute the program 505, and specifically may execute the relevant steps in the foregoing method embodiments.

Specifically, the program 505 may include program code including computer operation instructions.

The processor 505 may be a central processing unit (CPU), or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, or a graphics processing unit (GPU) (Graphics Processing Unit). ). One or more processors included in the control device may be the same type of processors, such as one or more CPUs, or one or more GPUs; or may be different types of processors, such as one or more CPUs and one or more GPUs.

The memory 503 is used to store the program 505 . The memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

The program 505 can specifically be used to cause the processor 501 to perform the following operations: obtain the projected point of the total centroid of the operating device on the support datum; when it is determined that the projected point falls within the understable region of the effective region of the support datum, send the control The instructions adjust the height of each first controlled foot support so that the projected point falls within the stable domain of the effective domain.

FIG. 28 and FIG. 29 are schematic structural diagrams of a slave operating device of another embodiment of the surgical robot of the present application. This slave operating device 3' is different from the slave operating device 3 shown in Fig. 1 in that the configuration is different, in brief:

The slave operating device 3' has a plurality of articulated arms 301' to 315', which are artificially divided into a first arm body in a series configuration at the proximal end and a second arm body in two or more parallel configurations at the distal end for the convenience of understanding. Both the first arm body and the second arm body are composed of a plurality of articulated arms. For example, the first arm body is formed of articulated arms 301' to 305' in series, and the plurality of second arm bodies are all composed of articulated arms 306' to 305'. 315' are formed in series in sequence.

The proximal articulated arm 301 ′ in the first arm body is provided with a plurality of wheels and feet, which can be referred to in conjunction with FIG. is the same as the articulated arm 301, and will not be repeated here. The articulated arm 315 ′ at the distal end of the second arm body is used to detachably set the operating arm 31 ′ with the end instrument. The operating arm 31 ′ of the slave operating device 3 ′ in this configuration has the same The operation arm 31 has basically the same structure. The operation arm 31' includes a connecting rod 32', a connecting assembly 33' and an end device 34' connected in sequence. The end device 34' includes an image end device 34A' and an operation end device 34B'. The articulated arm 301' at the proximal end of the first arm body is a base, and the articulated arm 315' at the distal end of the second arm body can also be regarded as a power mechanism. Such a power mechanism usually has a guide rail and is slidably arranged on the base. A power part on the guide rail, wherein the power part is used to detachably set the operating arm.

Therefore, the embodiments shown in FIGS. 1 to 27 can be better applied to the surgical robot shown in FIGS. 28 to 29 , so as to realize the adjustment of the supporting force of the slave operating device 3 ′ and thus strengthen the supporting stability thereof. .

For example, the total mass of the slave operating device 3' and the projection point of its total centroid on the support reference plane can be obtained in exactly the same way as the slave operating device 3, for example, using a multi-body centroid solution method or according to parameters such as pressure values The method of constructing the moment balance equation can be obtained from the total mass of the operating device 3' and the projection point of the total center of mass on the support reference plane. Reference may be made to the above embodiments, and details are not repeated here.

In some other embodiments, the multi-body centroid solution method can also be used and more steps can be used to obtain the projection point of the total mass of the operating device 3' and its total centroid on the support datum, as shown in Figure 30. Examples of these steps can be include:

Step S11", acquiring the sub-mass of each articulated arm and the sub-centroid space position of its sub-centroid in the link coordinate system of the corresponding articulated arm.

Step S12", acquiring the joint position of the corresponding joint arm detected by each position sensor in the reference coordinate system.

Step S13", summing the sub-mass of each articulated arm to obtain the total mass of the slave operating device.

Step S14", combining the sub-centroid space position of each articulated arm in the corresponding link coordinate system and the corresponding joint position to obtain the sub-centroid space position of the corresponding articulated arm's sub-centroid in the reference coordinate system through forward kinematics.

Step S15", combining the sub-mass of each joint arm in the corresponding second arm body and the sub-centroid space position of the sub-centroid in the reference coordinate system to obtain the sub-centroid corresponding to a second arm body in the reference coordinate system through the multi-body centroid solution method The centroid space position of .

Step S16", combine the sub-mass of each second arm body and its sub-centroid space position in the reference coordinate system to obtain the sub-centroid space of the total sub-centroid of all the second arm bodies in the reference coordinate system through a multi-body centroid solution method Location.

Step S17", combining the sub-mass of each joint arm in the first arm body and the sub-centroid space position of its sub-centroid in the reference coordinate system, and the total sub-mass of all the second arm bodies and its total sub-centroid in the reference coordinate The spatial position of the centroid of the system is obtained by the multi-body centroid solution method from the total centroid of the operating device in the space of the total centroid of the reference coordinate system.

Step S18", converting the total centroid space position of the total centroid in the reference coordinate system into a projection point on the support reference plane.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (21)

A surgical robot is characterized in that it includes a slave operating device and a control device, the slave operating device has a plurality of legs at the bottom, the legs are configured to support height adjustable, and the control device is respectively coupled to each of the legs , at least some of the feet are configured as first controlled feet, and the control device is configured to: obtaining the projection point of the total centroid of the slave operating device on the support datum; When it is determined that the projection point falls into the under-stable domain within the effective domain of the support reference plane, the height of each of the first controlled legs is adjusted so that the projection point falls within the stable domain of the effective domain. The surgical robot according to claim 1, wherein the step of adjusting the height of each of the first controlled support feet so that the projection point falls within the stable field of the effective field comprises: obtaining a target position where the projected point is expected to fall into the stable domain; Adjusting the height of each of the first controlled feet supports makes the projection point move from the current position to the target position. The surgical robot according to claim 1, wherein the slave operating device has a plurality of articulated arms, the articulated arms at the proximal end are provided with the support feet, and the articulated arms at the distal end are used for setting instruments with an end Each of the articulated arms is provided with a position sensor coupled with the control device, and the step of obtaining the projection point of the total center of mass of the slave operating device on the support reference plane includes: Obtain the sub-mass of each articulated arm and the sub-centroid space position of the sub-centroid in the link coordinate system of the corresponding articulated arm; acquiring the joint position of the corresponding joint arm in the reference coordinate system detected by each of the position sensors; Combining the sub-centroid space position of each articulated arm in the corresponding link coordinate system and the corresponding joint position, the sub-centroid space position of the corresponding articulated arm's sub-centroid in the reference coordinate system is obtained through forward kinematics; Obtaining the total centroid space position of the total centroid of the slave operating device in the reference coordinate system through a multi-body centroid solution method in combination with the sub-mass of each articulated arm and the sub-centroid space position of its centroid in the reference coordinate system; Converting the total centroid space position of the total centroid in the reference coordinate system to the projection point on the support datum. The surgical robot according to claim 3, wherein the number of the articulated arms at the distal end is one, and the articulated arms at the distal end are used to detachably set more than one operating arm; or, the distal end The number of the articulated arms is more than two, and the articulated arms at each distal end are used to detachably set one of the operating arms. The surgical robot according to claim 3, wherein the slave operation device has an angle detection element, and the control device is coupled to the angle detection element to obtain the total center of mass of the slave operation device in the reference coordinate system After the steps for the total centroid spatial location, include: acquiring the inclination angle of the support surface detected by the angle detection element; Update the total centroid space position of the total centroid of the slave operating device in the reference coordinate system according to the inclination angle; Wherein, the inclination angle includes a first inclination angle of the support reference plane between the first orthogonal direction and the horizontal plane, and a second inclination angle between the second orthogonal direction and the horizontal plane. The surgical robot according to claim 3, wherein the articulated arm at the proximal end is a base, and the articulated arm at the distal end is a power mechanism, and the power mechanism comprises one or more guide rails and are slidably arranged on corresponding The power part on the guide rail, the power part is used to detachably set the operating arm and drive the operating arm to obtain the sub-mass of each articulated arm and its sub-center of mass in the connecting rod of the corresponding articulated arm The steps of the centroid space position of the coordinate system include: Obtain from the database the sub-mass of each of the articulated arms except the power mechanism and the sub-centroid space position of the sub-centroid in the corresponding link coordinate system; According to the installation status information and position status information inside the power mechanism, the sub-mass of the power mechanism and the sub-centroid space position of its sub-centroid in its connecting rod coordinate system are obtained; wherein, the installation status information and each of the power The position state information is related to the position state of each of the power parts relative to the corresponding guide rail, and the installation state information includes whether an operation arm is provided on each of the power parts information, and/or type information of the operating arms provided on each of the power units. The surgical robot according to claim 6, wherein the operating arm has a storage element that stores type information of the operating arm, and each of the power units is provided with a device coupled with the control device and with the storage element. The identification element coupled by the unit, the guide rail or the power part is provided with a position sensor coupled with the control device, and the part of the power mechanism is obtained according to the installation state information and position state information inside the power mechanism. The steps of the mass and its centroid in the space of its centroids in the connecting rod coordinate system include: acquiring the installation status information inside the power mechanism detected by the identification element and the position status information inside the power mechanism detected by the position sensor; According to the installation state information inside the power mechanism, a matching parameter calculation model among a plurality of pre-built parameter calculation models is called; wherein each parameter calculation model is respectively associated with an installation state of the power mechanism Below, the sub-mass and its sub-centroid corresponding to different position states are in the sub-centroid space position of the corresponding connecting rod coordinate system; According to the called parameter calculation model and the position state information inside the power mechanism, the sub-mass of the power mechanism and the sub-centroid space position of the sub-centroid of the power mechanism in the corresponding connecting rod coordinate system are obtained. The surgical robot according to claim 1, wherein at least each of the first controlled feet is provided with a pressure sensor coupled with the control device, to obtain the projection of the total center of mass of the slave operating device on the support reference plane Point steps include: Obtain the pressure value detected by each of the pressure sensors; Obtain the total mass of the slave operating equipment; obtaining the fulcrum position of each of the first controlled feet on the support reference plane; The projection point is obtained by constructing a moment balance equation in two orthogonal directions in the support reference plane by combining each of the pressure values, the total mass and the position of the fulcrum. The surgical robot according to claim 1, wherein the bottom of the slave operating device further has a plurality of wheels, the wheels are configured to provide movement and auxiliary support, each of the wheels and each of the controlled feet are A pressure sensor coupled with the control device is provided, and the step of obtaining the projection point of the total center of mass of the slave operating device on the support reference plane includes: Obtain the pressure value detected by each of the pressure sensors; Obtain the total mass of the slave operating equipment; obtaining the fulcrum position of each of the first controlled feet and each of the wheels on the support reference plane; The projection point is obtained by constructing a moment balance equation in two orthogonal directions in the support reference plane by combining each of the pressure values, the total mass and the position of the fulcrum. The surgical robot according to claim 2, wherein the step of adjusting the height of each of the first controlled feet to move the projection point from the current position to the target position comprises: obtaining a position vector from the projection point to the target position on the support datum, the position vector including a distance and a direction; Determine the incremental adjustment direction supported by each of the first controlled feet according to the position vector; The incremental height corresponding to each of the first controlled foot supports is incrementally adjusted according to the incremental adjustment direction until the projection point moves from the current position to the target position. The surgical robot according to claim 10, wherein the step of obtaining the position vector from the projection point to the target position on the support reference plane is specifically: obtaining a first position vector in a first orthogonal direction and a second position vector in a second orthogonal direction from the projection point to the target position on the support reference plane; The step of determining the incremental adjustment direction supported by each of the first controlled feet according to the position vector is as follows: determining a first incremental adjustment direction associated with a first orthogonal direction and a second incremental adjustment direction associated with a second orthogonal direction of each of the first controlled legs according to the first position vector; The step of incrementally adjusting the incremental height corresponding to each of the first controlled foot supports until the projection point moves from the current position to the target position in an incremental manner according to the incremental adjustment direction, specifically: The incremental height corresponding to each of the first controlled foot supports is adjusted incrementally according to the first incremental adjustment direction and the second incremental adjustment direction, respectively, until the projection point moves from the current position to the desired position. the target location. The surgical robot according to claim 3, wherein the step of adjusting the height supported by each of the first controlled feet so that the projection point moves from the current position to the target position comprises: obtain the distance between the projection point and the target position on the support datum; obtain the height between the projection point and the total centroid in the reference coordinate system; determining a target inclination angle of the support reference plane according to the distance and the height; The height of each of the first controlled feet is adjusted according to the target inclination angle, so that the projection point is moved from the current position to the target position. The surgical robot according to claim 12, wherein the step of obtaining the distance between the projection point on the support reference plane and the target position is specifically: obtaining a first distance in a first orthogonal direction and a second distance in a second orthogonal direction between the projection point of the support datum and the target position; The step of determining the target inclination angle of the support reference plane according to the distance and the height is as follows: determining a first target inclination angle of the support reference plane in relation to the first orthogonal direction and a second target inclination angle in relation to the second orthogonal direction according to the first distance and the height; The step of adjusting the height supported by each of the first controlled feet according to the target inclination angle to move the projection point from the current position to the target position, specifically: The height of each of the first controlled feet is adjusted according to the first target inclination angle and the second target inclination angle, so that the projection point is moved from the current position to the target position. The surgical robot according to claim 12, wherein the step of adjusting the height of each of the first controlled support legs according to the target inclination angle so that the projection point moves from the current position to the target position comprises: Obtaining the target support height of each of the first controlled feet according to the target inclination angle; The height of each of the first controlled foot supports is adjusted according to the corresponding target support height, so that the projection point is moved from the current position to the target position. The surgical robot of claim 1, wherein the control device is configured to: Obtain the position of each of the feet on the support reference plane; Constructing a convex polygon based on the position, configuring the leg associated with the position corresponding to the largest one of the convex polygons to be the first controlled leg, and the effective field is determined by the largest one of the convex polygons. Multilateral regional mapping is formed. The surgical robot according to claim 15, wherein each of the supporting feet is configured to have an adjustable supporting force, and when the number of the supporting feet other than the first controlled supporting foot is not less than three, the The control device is configured to: Another convex polygon is constructed based on the positions of the legs other than the first controlled legs, and the legs associated with the position corresponding to the largest one of the other convex polygons are configured as second controlled legs feet; When it is judged that the projected point falls into another valid domain formed by the largest one of the region mappings of the other convex polygon: Obtain the total mass of the slave operating equipment; obtaining the first positional relationship between each of the second controlled feet and the projection point on the support reference plane; Obtain a target support force value expected to be generated by each of the second controlled feet according to the first positional relationship and the total mass; Each of the second controlled feet is controlled to protrude toward the support surface to generate a support force matching the corresponding target support force value. The surgical robot according to claim 16, wherein the slave operating device and the operating device are jointly supported by the passive support force provided by the first controlled support foot and the active support force provided by the second controlled support foot, The step of obtaining the target support force value expected to be generated by each of the second controlled feet according to the first positional relationship and the total mass includes: obtaining a first ratio of the sum of the active support forces expected to be generated by each of the second controlled feet relative to the gravity of the slave operating device, where the value of the first ratio ranges between 0 and 1; The target support force value expected to be generated by each of the second controlled feet is obtained by combining the first ratio, the first positional relationship and the total mass. The surgical robot according to claim 16, wherein after the step of obtaining the target support force value expected to be generated by each of the second controlled legs according to the first positional relationship and the total mass, the method comprises: detecting whether there is the target support force value exceeding the support force threshold; If present, set the target support force value of the second controlled foot that exceeds the support force threshold to the support force threshold, based on the support force threshold of the second controlled foot that exceeds the support force threshold in combination with the support force threshold The first positional relationship and the total mass are used to obtain the target supporting force values of the remaining second controlled legs, and the above steps are repeated until all the target supporting force values do not exceed the supporting force threshold. The surgical robot according to claim 16, wherein the second controlled support foot comprises a lift portion and a drive portion coupled with the lift portion, and the drive portion is coupled with the control device, and the drive portion is coupled to the control device. The part drives the elevating part to expand and contract and adjust the supporting force of the elevating part under the control of the control device; The second controlled foot further includes a braking portion, the braking portion is coupled with the lifting portion or the driving portion, and the braking portion is coupled with the control device, the braking portion is used for Locking the driving part or the lifting part, enabling each of the second controlled legs to extend toward the support surface and controlling each of the second controlled legs to generate a supporting force matching the corresponding target supporting force value, include: Detecting whether each of the driving parts simultaneously reaches the corresponding target supporting force value; If yes, stop the action of each of the driving parts, and control the action of each of the braking parts to maintain the current supporting position and supporting force value of each of the second controlled feet. A control device for a surgical robot, characterized in that the surgical robot includes a slave operation device, the slave operation device has a plurality of legs at the bottom, the legs are configured to support height adjustable, and the control device is respectively associated with each The legs are coupled, at least a portion of the legs are configured as first controlled legs, and the control device is configured to: obtaining the projection point of the total centroid of the slave operating device on the support reference plane; When it is determined that the projection point falls into the under-stable domain within the effective domain of the support reference plane, the height of each of the first controlled legs is adjusted so that the projection point falls within the stable domain of the effective domain. A control method for a surgical robot, characterized in that the surgical robot includes a slave operation device, the slave operation device has a plurality of legs at the bottom, the legs are configured to support height adjustable, and at least part of the legs are configured into the first controlled support, the control method includes the following steps: obtaining the projection point of the total centroid of the slave operating device on the support reference plane; When it is determined that the projection point falls into the under-stable domain within the effective domain of the support reference plane, the height of each of the first controlled legs is adjusted so that the projection point falls within the stable domain of the effective domain.

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