WO2022199649A1 - Computer-readable storage medium, electronic device, and surgical robot system - Google Patents

Abstract

A computer-readable storage medium, an electronic equipment, and a surgical robot system. The surgical robot system obtains a target punching position M on a sign image model of a patient, plans a target punching pose of a mechanical arm (100) according to the target punching position M, a lesion position and the structure of the mechanical arm (100), and plans a motion path outside a collision model S, such that the mechanical arm (100) can move from an initial state along the motion path to the target punching pose to obtain an actual punching position of the body surface of the patient. Therefore, the advantages of precise guidance, safety and efficiency are achieved.

Description

A computer-readable storage medium, electronic device and surgical robot system technical field

The present invention relates to the technical field of medical devices, in particular to a computer-readable storage medium, an electronic device and a surgical robot system.

Background technique

Surgical robots are designed to precisely perform complex surgical procedures in a minimally invasive manner. Surgical robots have been developed under the circumstance that traditional surgical operations face various limitations. Surgical robots break through the limitations of the human eye, and can use stereo imaging technology to more clearly present the internal organs of the human body to the surgeon. In addition, for the narrow area that some people's hands cannot reach, the surgical robot can still control the surgical instruments to complete the movement, swing, clamping and 360° rotation, and can avoid shaking, improve the accuracy of surgery, and further achieve small wounds and bleeding. It has the advantages of less, faster postoperative recovery, and greatly shortened postoperative hospital stay. Therefore, surgical robots are favored by the majority of doctors and patients, and are widely used in various clinical operations.

Like traditional surgery, before using a surgical robot to perform surgery, it is necessary to locate the lesion, determine the perforation point according to the location of the lesion, and then perform the perforation at the perforation point to carry out the surgical operation. However, in the above operation process, the confirmation of the punching point is heavily dependent on the doctor's experience. In addition, after planning the perforation position for different patients, due to various reasons (such as the patient's breath hold, satiety, establishment of pneumoperitoneum, etc.), the patient's position often changes during the actual operation, resulting in the inability to quickly and accurately find the planned perforation. Location.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a computer-readable storage medium, an electronic device and a surgical robot system. By planning the pose and motion path of the robotic arm, the robotic arm can automatically, accurately and safely guide the operation of the patient's body surface. Hole location, improve the accuracy of hole location guidance, and reduce preoperative preparation time.

To achieve the above object, the present invention provides a computer-readable storage medium on which a program is stored, and when the program is executed, the following steps are performed:

Obtain the target punching position information according to the patient's sign image model;

The target punching pose of the robotic arm is planned according to at least one of the patient's lesion position, the target punching position, and the structure of the robotic arm, so that when the robotic arm is in the target punching posture, The sum of the distances from the surface of the designated tissue of the patient to the extension of the axis of the instrument shaft of the robotic arm is the smallest;

establishing a collision model that covers the patient's body surface;

A motion path is planned outside the collision model, so that the robotic arm can move along the motion path from an initial pose to the target punching pose; and,

The mechanical arm is driven to move to the target punching pose along the movement path.

Optionally, the program also performs the following steps:

Plan the motion trajectory to obtain the relationship between the pose and time when the robotic arm moves along the motion path, and calculate the position information, velocity information and acceleration information of the joints of the robotic arm that change with time, and then according to The calculated information (position information, velocity information and acceleration information) controls the motion of the robotic arm.

Optionally, the program also performs the following steps:

The speed information of the joints of the robotic arm is generated through a triangular velocity curve; or, the velocity information of the joints of the robotic arm is generated through a trapezoidal velocity curve.

Optionally, the program performs the following steps to plan the target punching pose of the robotic arm:

Taking the connecting line between the lesion position and the target punching position as the central axis, and taking the target punching position as the cone top to construct a conical space, so that the lesion is located on the bottom surface of the conical space;

Taking the connection line between any point on the bottom surface of the conical space and the target punching position as a reference line, obtain the sum of the distances from the reference line to the surface of the specified tissue, and obtain the sum of the distances. The reference line with the smallest sum is used as the target reference line, so that the axis of the instrument axis of the robotic arm in the target punching posture coincides with the target reference line.

Optionally, the motion path includes a first sub motion path and a second sub motion path; the program performs the following steps to plan the motion path:

Selecting a front punching position outside the body on the target reference line;

Planning the first sub-movement path specifically includes: judging whether the connection line between the initial position of the end point of the robotic arm and the front punching position intersects the collision model, and if so, in the collision model At least one transition point is selected on the outer side of the robot arm, and the distance from at least one transition point to the collision model is greater than the distance from the initial position of the end point of the robotic arm to the collision model, and is greater than the front punching position The distance to the collision model; and, planning a circular arc path starting from the end point of the robotic arm, passing through all the transition points, and ending at the front punching position, as all the the first sub-movement path; if not, plan a linear path starting from the end point of the robotic arm and ending at the front punching position as the first sub-movement path;

The second sub-movement path is planned, and the second sub-movement path is defined as a straight path starting from the pre-punching position and ending at the target punching position.

Optionally, the program also performs the following steps:

The position information, velocity information and acceleration information of the joints of the robotic arm that change with time during the movement of the robotic arm along the movement path are obtained according to the motion path; wherein, the maximum motion speed of the joints of the robotic arm is V _max , the acceleration time is t _s ;

When the distance s between the front punching position and the target punching position satisfies s<V _max ×t _s , the velocity information of the joints of the robotic arm is generated through a triangular velocity curve; or, when the When the distance s between the front punching position and the target punching position satisfies s≥V _max ×t _s , the velocity information of the joints of the robotic arm is generated through a trapezoidal velocity curve.

Optionally, the physical sign image model includes a first physical sign image model and a second physical sign image model, and the first physical sign image model is established according to the first body surface data and lesion data of the patient in the first state. The second physical sign image model is established according to the second body surface data of the patient in the second state; the program performs the following steps to obtain the target punching position:

obtaining the first physical sign image model, so as to plan a pre-drilling position on the first physical sign image model;

obtaining the second physical sign image model;

registering the second vitals image model and the first vitals image model to convert the pre-punched positions on the first vitals image model to the second vitals image model Target punch location.

Optionally, the program also performs the following steps:

Generating prompt information, where the prompt information is used to prompt that the robotic arm has reached the target punching pose.

To achieve the above object, the present invention further provides an electronic device, comprising a processor and the computer-readable storage medium according to any preceding item, where the processor is configured to execute a program stored on the computer-readable storage medium.

In order to achieve the above object, the present invention also provides a surgical robot system, comprising a robotic arm and a control module, the control module is communicatively connected with the robotic arm, and the control module is configured to perform the operations described in any of the preceding items. program stored on the computer-readable storage medium.

Optionally, the surgical robot system includes the aforementioned electronic device, and the control module includes the processor.

Optionally, the robotic arm includes a robotic arm body and an auxiliary device disposed on the robotic arm body;

When the robotic arm moves to the target punching posture, the position of the patient's body surface indicated by the auxiliary device is the actual punching position.

Optionally, the auxiliary device includes a poke card, the poke card is used to connect with the end of the mechanical arm body, and when the mechanical arm moves to the target punching posture, it is connected to the mechanical arm. The tip of the stamp at the end of the arm body indicates the actual punching position.

Optionally, the mechanical arm body includes a first link, a second link, a third link and a fourth link connected in sequence, the first link, the second link, the first link The third link and the fourth link define a parallelogram structure, and the fourth link extends along the axis direction of the instrument shaft of the mechanical arm;

The auxiliary device includes a first laser and a second laser, the first laser is arranged on the first connecting rod, and the first laser beam emitted by the first laser propagates along the length direction of the first connecting rod , the second laser is arranged on the fourth connecting rod, the laser beam emitted by the second laser propagates along the length direction of the fourth connecting rod, and the second laser beam and the first laser The beams intersect to form a light spot; the position of the patient's body surface indicated by the light spot is the actual punching position.

Optionally, it also includes an operating trolley, the operating trolley is provided with a first electrical interface, the robotic arm is provided with a second electrical interface, and the second electrical interface is used for connecting with the first electrical interface. Removably attached.

Compared with the prior art, the computer-readable storage medium, electronic device and surgical robot system of the present invention have the following advantages:

When the program stored on the aforementioned computer-readable storage medium is executed, the following steps are performed: obtaining target punching position information according to the patient's physical image model; according to the patient's lesion position, the target punching position information and the mechanical At least one of the structures of the arms plans the target punching pose of the robotic arm such that when the robotic arm is in the target punching pose, the surface of the patient's designated tissue to the instrument axis of the robotic arm The sum of the distances of the extension lines of the axis is the smallest; establish a collision model, the collision model covers the body surface of the patient; plan a motion path outside the boundary of the collision model, so that the robotic arm can move from the initial pose along the moving the movement path to the target punching posture; and driving the robotic arm to move to the target punching posture along the movement path, so as to obtain the actual punching position on the patient's body surface. When the computer-readable storage medium is applied to the surgical robot system, by planning the target punching pose of the robot arm and the movement path of the robot arm, and making the robot arm move along the movement path to the target punching position. The hole pose can accurately indicate the actual punching position on the patient's body surface, improve the reliability, convenience and safety of punching guidance. At the same time, punching at the actual punching position can also increase the space for surgical operations. .

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

1 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention, in which the robotic arm is in an initial state;

2 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention, in which the robotic arm is in a target punching posture;

FIG. 3 is a flowchart of a surgical robot system according to an embodiment of the present invention for performing drilling guidance;

4 is a schematic structural diagram of a mechanical arm of a surgical robot system provided by the present invention according to an embodiment;

5 is a schematic diagram of a connection relationship between a robotic arm and an operating trolley of a surgical robot system according to an embodiment of the present invention;

FIG. 6 is a flowchart of planning a target punching position by a surgical robot system according to an embodiment of the present invention;

7 is a schematic diagram of the surgical robot system according to an embodiment of the present invention acquiring first body surface data and lesion data by using a first imaging device;

8 is a schematic diagram of a surgical robot system according to an embodiment of the present invention acquiring second body surface data by using a second imaging device;

9 is a schematic diagram of establishing a mapping relationship between a target on a patient's body surface and a control module by a surgical robot system according to an embodiment of the present invention;

10 is a flow chart of planning the optimal punching posture of the robotic arm by the surgical robot system provided by the present invention according to an embodiment;

11 is a schematic diagram of a surgical robot system planning target punching pose according to an embodiment of the present invention;

12 is a schematic diagram of a collision model constructed by a surgical robot system according to an embodiment of the present invention;

13 is a flow chart of path planning performed by a surgical robot system according to an embodiment of the present invention;

14 is a schematic diagram of path planning performed by a surgical robot system according to an embodiment of the present invention;

15 is a schematic diagram of planning an arc path as a first path by a surgical robot system according to an embodiment of the present invention;

16 is a schematic diagram of planning a straight path as a second path by a surgical robot system according to an embodiment of the present invention;

17 is a schematic diagram of the speed change of the surgical robot system according to an embodiment of the present invention when planning a motion trajectory, wherein a) shows a schematic diagram of using a triangle speed curve to generate speed information, and b) shows a trapezoidal speed curve to generate Schematic diagram of speed information;

FIG. 18 is a schematic diagram illustrating that the surgical robot system provided by the present invention is applied to the surgical robot system according to an embodiment.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention may also be practiced or applied in other and different embodiments. Various details in this specification can also be modified or changed in various ways without departing from the spirit of the present invention based on different viewpoints and applications. It should be noted that the accompanying drawings provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic way, so the accompanying drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the person using the present invention must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. One or all of the technical features of the . In other words, under the premise that implementation is possible, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the present invention and depending on design specifications or implementation requirements, Or selectively implement a combination of some or all of the technical features in the multiple embodiments, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "installed", "connected", "connected" shall be It can be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; Connectivity within an element or interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below according to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. The same or similar reference numbers in the drawings represent the same or similar parts.

Please refer to FIG. 1 and FIG. 2 , the surgical robot system provided in this embodiment includes a robotic arm 100 and a control module 600 , and the control module 600 is connected to the robotic arm 100 in communication. And the control module 600 is configured to:

Obtain the target punching position M on the patient's sign image model (please refer to Figures 2 and 11);

The target punching pose of the robotic arm 100 is planned according to at least one of the patient's lesion position, the target punching position M, and the structure of the robotic arm 100 , so that the robotic arm 100 is at the target In the punching posture, the sum of the distances from the surface of the patient’s designated tissue N (refer to FIG. 11 ) to the extension line of the axis of the instrument shaft of the robotic arm 100 is the smallest; here, the “designated tissue N” is defined by The doctor determines according to the actual condition, for example, in laparoscopic surgery, the designated tissue N is the main organ including the bulge in the abdominal cavity;

Establish a collision model S (refer to FIG. 12 ), the collision model S preferably covers the entire body surface of the patient;

A motion path is planned outside the boundary of the collision model S, so that the robotic arm 100 can move along the motion path from the initial pose to the target punching pose; and,

The robotic arm 100 is driven to move to the target punching pose along the movement path, so as to obtain the actual punching position on the patient's body surface.

By planning the target punching position on the physical image model, and determining the target punching pose of the robot arm 100 according to the target punching position, the lesion position and the structure of the robot arm 100, and then at the boundary of the collision model S The movement path of the robotic arm 100 is planned on the outside of the robot arm 100, and finally the robotic arm 100 is driven to move along the movement path to the target punching pose, so that the position of the patient's body surface can be determined according to the axis of the instrument shaft of the robotic arm 100. Actual punch position. This makes the perforation guidance process performed by the surgical robot system fast, accurate and safe, which not only reduces the preparation time for preoperative perforation, but also helps to improve the operation space for subsequent operations.

Further, the robotic arm 100 includes at least one joint. After the motion path planning is completed, and before driving the robotic arm 100 to move along the motion path, the control module 600 is further configured to: plan the motion trajectory of the robotic arm 100 to obtain the robotic arm 100 changes the relationship between the pose and time when moving along the motion path, and then obtains the position information, velocity information and acceleration information of the joints on the robotic arm 100 that change with time through inverse kinematics of the robotic arm. After that, the control module 600 controls the robotic arm 100 to move according to the planned motion trajectory.

Further, when the robotic arm 100 moves to an optimal punching posture, the control module 600 is further configured to generate prompt information to prompt completion of the punching guide.

In an exemplary embodiment, a method for a surgeon to guide a hole using the guide system is shown in FIG. 3 , including:

Step S1: Acquire the target punching position on the patient's physical sign image model.

Step S2: The control module plans the target punching pose of the robotic arm according to the position of the lesion, the target punching position and the structure of the robotic arm itself.

Step S3: The control module establishes a collision model S covering the entire body surface of the patient.

Step S4: The control module plans a motion path outside the boundary of the collision model, so that the robotic arm does not collide with the patient's body surface during the process of moving along the motion path to the target punching pose .

Step S5: The control module plans the motion trajectory of the robotic arm, and obtains position information, velocity information, and acceleration information of the joints of the robotic arm at a predetermined time point.

Step S6: The control module drives the robotic arm to move to the target punching position according to the planned motion trajectory.

Further, step S7 is also included: the control module generates prompt information to prompt completion of the punching guide.

Afterwards, the operator can confirm the actual drilling position on the patient's body surface according to the direction of the axis of the instrument shaft of the robotic arm 100 and mark it. Alternatively, the punching guidance method further includes step S8: the control module 600 drives the robotic arm to mark the actual punching position. The present invention is not limited to this.

The specific implementation of each step in the foregoing method will be described in detail later.

Further, in order to conveniently obtain the actual punching position of the patient's body surface according to the axis of the instrument shaft of the robotic arm 100 , the robotic arm 100 includes a robotic arm body and an auxiliary device disposed on the robotic arm body.

As shown in FIG. 1 and FIG. 2 , the auxiliary device includes a stamping card 170 , and the stamping card 170 is disposed at the end of the body of the robotic arm 100 . When the robotic arm 100 moves to the target punching posture, the position of the patient's body surface indicated by the tip of the stamping card 170 is the actual punching position.

Alternatively, as shown in FIG. 4 , in an optional embodiment, the body of the robotic arm 100 includes a first link 110 , a second link 120 , a third link 130 and a fourth link that are connected in sequence 140. The first link 110, the second link 120, the third link 130 and the fourth link 140 define a parallelogram, and the extension direction of the fourth link 140 is the extension direction of the axis of the instrument shaft of the robot arm 100 . The auxiliary device includes a first laser 150 and a second laser 160 . The first laser 150 is disposed on the first connecting rod 110 . The first laser beam emitted by the first laser 150 propagates along the length direction of the first connecting rod 110 . The second laser 160 is disposed on the fourth connecting rod 140 , and the second laser beam emitted by the second laser 160 propagates along the length direction of the fourth connecting rod 140 . And the second laser beam intersects with the first laser beam to form a light spot. When the robotic arm 100 moves to the target punching pose, the light spot falls on the body surface of the patient, and the position of the light spot is the actual punching position.

In addition, as shown in FIG. 5 , the guidance system further includes an operating trolley 300 , which is used to carry the patient during drilling guidance. In this embodiment, the operating trolley 300 is non-detachably connected to the mechanical arm 100 , or the operating trolley 300 is detachably connected to the mechanical arm 100 . Specifically, the operating trolley 300 is provided with a first electrical interface 301, and the base of the robotic arm 100 is provided with a second electrical interface 101. When the second electrical interface 101 is connected to the first electrical interface When 301 is matched and connected, a mapping relationship between the operating trolley 300 and the robotic arm 100 is established. The advantage of this arrangement is that the robotic arm 100 is independent of the operating trolley 300, which is convenient for transportation and use.

Hereinafter, a method for guiding holes by using the guiding system will be described with reference to the accompanying drawings (ie, the method for guiding holes shown in FIG. 3 will be described in detail).

Please refer to Fig. 6, the process of obtaining the target punching position on the patient's physical image model is as follows:

Step S11: Obtain the first physical sign image model. In this embodiment, the control module constructs a sign image model according to the first body surface data and lesion data of the patient in the first state, as the first sign image model.

Step S12: Planning a pre-drilling position on the first sign image model. In this embodiment, the pre-drilling position is planned and obtained by the control module through three-dimensional simulation. In other embodiments, it can also be determined empirically by the operator. Afterwards, simulated punching can also be performed through the control module to verify whether the pre-drilling position is appropriate.

Step S13: The control module constructs a vital sign image model according to the second body surface data of the patient in the second state, as a second vital sign image model.

Step S14: The control module performs image registration on the second physical sign image model and the first physical sign image model, so as to convert the pre-punching position on the first physical sign image model into the first physical sign image model. The target punching position of the two-sign image model. The image registration in this step is a conventional technical means, which will not be described in detail here.

As shown in FIG. 7 , the first body surface data and the lesion data are acquired by a first imaging device 400 , and the first imaging device 400 includes but is not limited to MRI, CT or other X-ray devices. As shown in FIG. 8 , the second body surface data is collected by a second imaging device 500 , and the second imaging device includes but is not limited to a 3D vision system. When the patient is in the first state and the second state, respectively, there is a difference in the body position of the patient. Generally, the first state refers to the state of the patient in the diagnosis stage, and the second state refers to the state of the patient in preoperative preparation. Taking laparoscopic surgery as an example, the first state refers to a state in which the patient has not established pneumoperitoneum, and the second state refers to a state in which the patient has established pneumoperitoneum. In other operations or other environments, the difference between the first state and the second state may also be due to the patient's different states caused by breath-holding, satiety, defecation, and the like. In addition, those skilled in the art can understand that the step S12 can also be executed after the step S13.

In practice, the first imaging device 400 , the second imaging device 500 , the control module 600 and the patient are in different coordinate systems, but for those skilled in the art, conventional methods can be used in different coordinate systems. Create a mapping relationship between them. In a specific embodiment, as shown in FIG. 7 to FIG. 9 , when the second imaging device collects the second body surface data, a plurality of markers 1 are distributed on the body surface of the patient, and a plurality of the markers The position of 1 is calibrated by the operator, and a first coordinate system F ₁ (ie, the patient coordinate system) is established according to the positions of the plurality of markers 1 . The second imaging device 500 is in the _second coordinate system F2, and the second imaging device 500 obtains the coordinates of the marker 1 as the second body surface data. The second coordinate system F2 can be known from the coordinates of the plurality of markers ₁ in the first coordinate system F1 and the coordinates of the markers 1 acquired by the _second imaging device 500 in the _second coordinate system F2 The mapping relationship with the _first coordinate system F1. The first imaging device 400 is in the _third coordinate system F3. In step S14, the mapping relationship between the _second coordinate system F2 and the _third coordinate system F3 can be obtained through image registration, and then the target punching position in the _first coordinate system F1 can be obtained. location within. The control module 600 and the robotic arm 100 are in the fourth coordinate system _F4 , and the mapping relationship between the fourth coordinate system _F4 and the _first coordinate system _F1 can be directly obtained in the world coordinate system F0 . Thereby, the mapping relationship between each coordinate system can be established, and the coordinate conversion between different coordinate systems can be realized.

It should be noted that, in an alternative embodiment, the control module may not establish the first physical sign image model. At this time, the first vital sign image model is established by an external organization, and then the control module receives the first vital sign image model. It can be understood that the receiving of the first vital sign image model by the control module here includes two situations. One is that the control module is communicatively connected to the external control mechanism to receive the first physical sign through electronic transmission. The second is that the control module is not connected to the external control mechanism, and the doctor manually inputs the relevant data of the first vitals image model into the control module, so that the control module receives all the relevant data. Describe the first sign image model. The external control mechanism may be a control mechanism connected to the first imaging device.

Next, the control module 600 plans the target punching pose of the robotic arm 100 . Please refer to FIG. 10 to FIG. 11 , the control module 600 performs the following steps when planning the target punching pose of the robotic arm 100 :

Step S21: On the second vital sign image model, take the line connecting the center P of the lesion and the target punching position M as the central axis L ₁ , and use the target punching position M as the top of the cone to construct a cone space , so that the lesions are located on the bottom surface of the conical space (that is, after the central axis is determined, the radius of the cone is determined based on the criterion that the lesions are all contained in the bottom surface of the cone).

Step S22: Taking the connection line between any point on the bottom surface of the conical space and the target punching position M as a reference line, obtain ( Minimum) sum of distances. This step is repeated until all points on the bottom surface are traversed. In this embodiment, the first imaging device 400 is a CT. Therefore, the operator can determine the designated tissue N according to factors such as CT model, lesion location, surgical technique, and patient signs.

Step S23: Select the reference line with the smallest sum of the distances as the target reference line L ₂ , so that when the robot arm 100 is in the target punching posture, the axis of the instrument shaft of the robot arm 100 Coinciding with the target reference line L ₂ , that is, the position of the target reference line L ₂ is the position of the axis of the instrument shaft of the robotic arm 100 in the target punching posture.

The target punching pose of the robotic arm 100 is planned by the aforementioned method, so that when the robotic arm 100 is in the target punching posture and the actual punching position of the patient's body surface is obtained, the lesion is as close as possible to the target punching position. The axis of the actual punching position is described, which improves the operation space and facilitates the operation of the operation.

Next, as shown in FIG. 12 , the control module constructs a collision model S. The present invention does not specifically limit the construction method of the collision model S and the shape of the collision model, as long as the collision model S can cover the entire body surface of the patient. In this embodiment, the collision model is in the shape of a cube. In other embodiments, the collision model may also be in a cylindrical shape, an ellipsoid shape, or the like.

Next, the control module 600 plans the movement path of the robotic arm 100 . In a preferred embodiment, the motion path includes a first sub motion path and a second sub motion path. The robotic arm 100 first moves along the first sub-movement path, and then moves along the second sub-movement path. Referring to FIG. 1 and FIG. 2 in combination with FIG. 13 to FIG. 16 , the control module 600 is configured to perform the following steps when planning the motion path:

Step S41: Select a front punching position Q outside the body _on the target reference line L2.

Step S42: Plan the first sub-movement path. Specifically include:

Step S421: Determine whether the connection line between the initial position R of the end point of the robotic arm and the front punching position Q intersects with the collision model S, if so, execute steps S422 and S423, if not, then Step S424 is executed.

Step S422: Select at least one transition point T outside the boundary of the collision model S, and the distance from at least one transition point T to the collision model S is greater than the distance from the initial position R of the end point of the robotic arm to the The distance from the collision model S is also greater than the distance from the front punching position Q to the collision model S.

Step S423: Plan an arc path starting from the initial position R of the end point of the robotic arm, passing through all the transition points T, and ending at the pre-punching position Q, as the first sub motion path.

Step S424: Plan a straight line path starting from the initial position R of the end point of the robotic arm and ending at the front punching position Q as the first sub-movement path.

Step S43 : planning the second sub-movement path, the second sub-movement path starts from the pre-punching position Q and ends at the target punching position M. Since both the pre-punching point Q and the target punching point M are located on the target reference line L2, the _second sub-movement path is a straight path.

In this embodiment, the step S422 selects one of the transition points T, but in other embodiments, more than two transition points T may be selected. The movement path planned by this method can ensure that the follow-up robotic arm 100 will not collide with the patient during the movement process, thereby effectively ensuring the safety and effectiveness of automatic guidance. Those skilled in the art should know that when the auxiliary device includes the stamping card 170, the end point of the mechanical arm 100 refers to the tip end point of the stamping card 170, and when the auxiliary device includes the first For the laser 150 and the second laser 160 , the end point of the robot arm 100 refers to the end point of the body of the robot arm 100 .

After that, the control module 600 can plan the motion trajectory of the robotic arm 100 . Specifically, the control module 600 constrains the movement of the robotic arm 100 along the movement path in time to obtain the movement trajectory, that is, the movement trajectory includes the movement of the robot arm 100 along the movement path When moving, the position and posture of the robotic arm 100 changes with the movement time, and then the position information, velocity information and acceleration information of the joints of the robotic arm 100 that change with time are obtained through the inverse kinematics of the robotic arm. In this embodiment, the specific method of the inverse kinematics solution is not limited, and an analytical solution method or a numerical solution method in the conventional technology can be used. The analytical solution method includes an algebraic method and a geometric method, and the numerical solution method includes an incremental position solution method and an inverse kinematics Newton iteration method, which are specifically selected according to actual needs.

In this embodiment, in the process of planning the motion trajectory, the maximum motion speed of the joints of the robotic arm 100 is set as V _max , and the acceleration time is set as t _s . When the distance s between the hole positions satisfies s<V _max ×t _s , as shown in a) in FIG. 17 , the control module is configured to use a triangular velocity curve to generate a velocity curve, the joints of the robotic arm 100 are The position can be obtained by integrating the velocity. in:

v=a·t, t≤t _s

v=a(t-2t _s ), t _s ≤t≤2t _s

In the formula, a is the acceleration of the joint of the robot arm 100 .

When the distance s between the front punching position and the target punching position satisfies s≥V _max ×t _s , as shown in b) in FIG. 17 , the control module is configured to adopt a trapezoidal velocity curve To generate a velocity curve, the joint positions of the robotic arm 100 can also be obtained by velocity integration. in,

v ₁ =at, t≤t _s

v ₂ =V _max , t _s <t≤t _fs

v ₃ =-a(tt _f ), t _fs <t≤t _f

In the formula, t _f is the movement time of the joints of the robotic arm 100, t _s to t _fs is the time for the joints of the robotic arm 100 to perform uniform motion, v ₁ is the speed of the joints of the robotic arm 100 in the acceleration stage, v ₂ is the speed of the joint of the robotic arm 100 in the uniform motion stage, and v ₃ is the speed of the joint of the robotic arm 100 in the deceleration stage.

Finally, the control module 600 drives the robotic arm 100 to move along the movement path according to the movement track. Those skilled in the art may know that during the movement of the robotic arm 100, the control module 600 may also acquire the position of the robotic arm 100 in real time, so as to monitor whether the robotic arm 100 moves according to the expected movement mode .

As mentioned above, in the guidance system provided in this embodiment, the control module needs to realize the establishment of the sign image model, the registration of the image, the planning of the optimal punching position, the path planning, the motion trajectory planning and the driving. Robotic arm movement and other functions. Therefore, the control module described in this embodiment includes a modeling module, a registration module, a target configuration solving module, a path planning module, a trajectory planning module, and a joint control module. Wherein, the modeling module is used for constructing a patient's physical sign image model, the registration module is used for registering different physical sign image models, and the target configuration solving module is used for planning the target of the robotic arm The punching pose, the path planning module is used to plan the motion path, the trajectory planning module is used to plan the motion trajectory, and the joint control module is used to control the motion of the robotic arm.

Those skilled in the art can understand that the surgical robot system can be applied to various surgical operations that require perforation on the patient's body surface, including not only the operations performed by the surgical robot system, but also the operations performed manually by doctors. At this time, the surgical robot system is only used for drilling guidance on the patient's body surface.

As shown in FIG. 18 , the surgical robot system generally includes a control end and an execution end. The control terminal includes a doctor console and a doctor terminal control device 10 disposed on the doctor console, and the execution terminal includes a patient control terminal (not marked in the figure), an image terminal control device 20 and other equipment. In some embodiments, when the control module 600 is located at the patient-side control device, it is used to establish a patient's physical sign image model (establishing the first physical sign image model and the second physical sign image model according to actual conditions) , or only establish the second vital sign image model), plan the target punching pose of the robotic arm 100 , construct a collision model S, plan a motion path, plan a motion trajectory, and drive the robotic arm 100 to move. This makes the patient-side control device need to have a higher configuration to complete the corresponding work. In view of this, it is preferable that a part of the control module 600 is located at the image end control device 20 for establishing a patient's physical image model, planning the target punching pose of the robotic arm 100, and constructing the collision model S. Plan the motion path and the motion trajectory. Another portion of the control module 600 may be located at the patient-side control device for driving the robotic arm 100 to move.

Further, when the robotic arm 100 moves to the target punching pose, the control module 600 also generates prompt information to prompt completion of the punching guidance. The doctor-side control device 10 and the image-side control device 20 receive the prompt information and give a prompt.

Further, an embodiment of the present invention further provides a computer-readable storage medium on which a program is stored, and when the program is executed, the control module of the surgical robot system executes the foregoing corresponding steps.

Still further, an embodiment of the present invention further provides an electronic device, including a processor and the aforementioned computer-readable storage medium, where the processor executes a program stored on the computer-readable storage.

An embodiment of the present invention further provides a method for planning a punching path, which includes steps performed by a control module of a surgical robot system when the program is executed; the method for planning a punching path is used in a surgical robot system, which The robotic arm of the robotic system moves to the target punching pose according to the planned path.

Although the present invention is disclosed above, it is not limited thereto. Various modifications and variations can be made in the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (15)

A computer-readable storage medium on which a program is stored, characterized in that, when the program is executed, the following steps are performed: Obtain the target punching position information according to the patient's sign image model; The target punching pose of the robotic arm is planned according to at least one of the patient's lesion position, the target punching position information, and the structure of the robotic arm, so that when the robotic arm is in the target punching posture , the sum of the distances from the surface of the designated tissue of the patient to the extension of the axis of the instrument shaft of the robotic arm is the smallest; establishing a collision model that covers the patient's body surface; A motion path is planned outside the collision model, so that the robotic arm can move along the motion path from an initial pose to the target punching pose; and, The mechanical arm is driven to move to the target punching pose along the movement path. The computer-readable storage medium according to claim 1, wherein the program further performs the following steps: Plan the motion trajectory to obtain the relationship between the pose and time when the robotic arm moves along the motion path, and calculate the position information, velocity information and acceleration information of the joints of the robotic arm that change with time, and then according to The calculated information controls the motion of the robotic arm. The computer-readable storage medium according to claim 2, wherein the program further performs the following steps: The speed information of the joints of the robotic arm is generated through a triangular velocity curve; or, the velocity information of the joints of the robotic arm is generated through a trapezoidal velocity curve. The computer-readable storage medium of claim 1, wherein the program performs the following steps to plan the target punching pose of the robotic arm: Taking the connecting line between the lesion position and the target punching position as the central axis, and taking the target punching position as the cone top to construct a conical space, so that the lesion is located on the bottom surface of the conical space; Taking the connection line between any point on the bottom surface of the conical space and the target punching position as a reference line, obtain the sum of the distances from the reference line to the surface of the specified tissue, and obtain the sum of the distances. The reference line with the smallest sum is used as the target reference line, so that the axis of the instrument axis of the robotic arm in the target punching posture coincides with the target reference line. The computer-readable storage medium of claim 4, wherein the motion path includes a first sub motion path and a second sub motion path; and the program executes the following steps to plan the motion path: Selecting a front punching position outside the body on the target reference line; Planning the first sub-movement path includes: Determine whether the connection line between the initial position of the end point of the robotic arm and the front punching position intersects the collision model, if so, select at least one transition point outside the collision model, at least one of the The distance from the transition point to the collision model is greater than the distance from the initial position of the end point of the robotic arm to the collision model, and is greater than the distance from the front punching position to the collision model; At the initial position of the end point of the robotic arm, an arc path that passes through all the transition points and ends at the front punching position is used as the first sub-movement path; if not, plan an arc path. Starting from the initial position of the end point of the mechanical arm, and ending at the straight line path of the front punching position, as the first sub-movement path; The second sub-movement path is planned, and the second sub-movement path is defined as a straight path starting from the pre-punching position and ending at the target punching position. The computer-readable storage medium according to claim 5, wherein the program further performs the following steps: The position information, velocity information and acceleration information of the joints of the robotic arm that change with time during the movement of the robotic arm along the movement path are obtained according to the motion path; wherein, the maximum motion speed of the joints of the robotic arm is V _max , the acceleration time is t _s ; When the distance s between the front punching position and the target punching position satisfies s<V _max ×t _s , the velocity information of the joints of the robotic arm is generated through a triangular velocity curve; or, when the When the distance s between the front punching position and the target punching position satisfies s≥V _max ×t _s , the velocity information of the joints of the robotic arm is generated through a trapezoidal velocity curve. The computer-readable storage medium according to claim 1, wherein the vital sign image model comprises a first vital signs image model and a second vital sign image model, and the first vital sign image model is based on the The first body surface data and lesion data of the patient are established, and the second physical sign image model is established according to the second body surface data of the patient in the second state; the program performs the following steps to obtain the target punching position: obtaining the first physical sign image model, so as to plan a pre-drilling position on the first physical sign image model; obtaining the second physical sign image model; registering the second vitals image model and the first vitals image model to convert the pre-punched positions on the first vitals image model to the second vitals image model Target punch location. The computer-readable storage medium according to claim 1, wherein the program further performs the following steps: Generating prompt information, where the prompt information is used to prompt that the robotic arm has reached the target punching pose. An electronic device, characterized by comprising a processor and a computer-readable storage medium according to any one of claims 1-8, wherein the processor is configured to execute a program stored on the computer-readable storage medium . A surgical robot system, characterized in that it comprises a robotic arm and a control module, the control module is communicatively connected to the robotic arm, and the control module is configured to perform the operation of any one of claims 1-8. program stored on the computer-readable storage medium. The surgical robotic system of claim 10, wherein the surgical robotic system includes the electronic device of claim 9, and the control module includes the processor. The surgical robot system according to claim 10, wherein the robotic arm comprises a robotic arm body and an auxiliary device disposed on the robotic arm body; When the robotic arm moves to the target punching posture, the position of the patient's body surface indicated by the auxiliary device is the actual punching position. The surgical robot system according to claim 12, wherein the auxiliary device comprises a poke card, the poke card is used for connecting with the end of the manipulator body, when the manipulator moves to the target In the punching pose, the tip of the stamping card connected to the end of the manipulator body indicates the actual punching position. The surgical robot system according to claim 12, wherein the manipulator body comprises a first link, a second link, a third link and a fourth link connected in sequence, the first link , the second link, the third link and the fourth link define a parallelogram structure, and the fourth link extends along the axis direction of the instrument shaft of the mechanical arm; The auxiliary device includes a first laser and a second laser, the first laser is arranged on the first connecting rod, and the first laser beam emitted by the first laser propagates along the length direction of the first connecting rod , the second laser is arranged on the fourth connecting rod, the laser beam emitted by the second laser propagates along the length direction of the fourth connecting rod, and the second laser beam and the first laser The beams intersect to form a light spot; the position of the patient's body surface indicated by the light spot is the actual punching position. The surgical robot system according to claim 10, further comprising an operating trolley, the operating trolley is provided with a first electrical interface, the robotic arm is provided with a second electrical interface, and the second electrical interface is provided on the operating trolley. An electrical interface is used for detachable connection with the first electrical interface.

Images