CN115317130B - Surgical robot system, adjustment system, and storage medium - Google Patents
Surgical robot system, adjustment system, and storage mediumInfo
- Publication number
- CN115317130B CN115317130B CN202110507239.8A CN202110507239A CN115317130B CN 115317130 B CN115317130 B CN 115317130B CN 202110507239 A CN202110507239 A CN 202110507239A CN 115317130 B CN115317130 B CN 115317130B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention provides a surgical robot system, an adjusting system and a storage medium, wherein the surgical robot system comprises a control end, an operation end and a controller, the operation end comprises at least one mechanical arm, the controller is used for acquiring initial pose information of a surgical auxiliary device and initial position information of an immobile point of the mechanical arm under a preset surgical scene, acquiring current pose information of the surgical auxiliary device, judging whether the pose of the surgical auxiliary device is changed according to the initial pose information of the surgical auxiliary device and the current pose information of the surgical auxiliary device, and if so, acquiring target position information of the immobile point according to the current pose information of the surgical auxiliary device, the initial pose information of the surgical auxiliary device and the initial position information of the immobile point, and correspondingly adjusting the pose of the mechanical arm according to the target position information of the immobile point. The invention can realize that each mechanical arm carries out corresponding adjustment along with the adjustment of the operation auxiliary device in real time under the condition of not withdrawing the instrument and/or the endoscope.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a surgical robotic system, an adjustment system, and a storage medium.
Background
Before a robot performs operation, a focus needs to be positioned and a punching point is determined according to the focus position, in the prior art, the punching position of a surgical instrument is planned according to the experience of a doctor, then punching is performed, and then a mechanical arm on the surgical robot is manually guided to the punching point, so that the operation is performed.
However, the following problems exist in the robotic surgical procedures so far:
1) Because the punching position is not ideal, collision can occur between the adjacent mechanical arms, so that the sickbed position and the mechanical arm position need to be readjusted to improve the distance between the adjacent mechanical arms;
2) Because the focus position is not ideal, the movement space of the mechanical arm is greatly reduced, and therefore, the sickbed position and the mechanical arm position need to be readjusted so as to improve the movement space of the mechanical arm;
3) When a new focus is found in the operation, the current sickbed posture and the punching point cannot normally finish the treatment of the new focus, and the sickbed position and the mechanical arm position need to be readjusted at the moment.
At present, when the body position of a patient is adjusted under the condition, the instrument is withdrawn, and is reinserted after readjustment, so that the process is time-consuming, the operation process is very complicated, the proficiency requirement on hospital personnel is very high, and whether the position is proper cannot be confirmed.
Disclosure of Invention
The present invention is directed to a surgical robot system, an adjustment system and a storage medium that solve one or more of the technical problems of the prior art.
In order to achieve the above object, the present invention provides a surgical robot system, including a control end, an operation end, and a controller, where the operation end includes at least one mechanical arm, the control end and the operation end have a master-slave control relationship and are used to control the mechanical arm to operate, and the controller is used to:
acquiring initial pose information of an operation auxiliary device under a preset operation scene and initial position information of a fixed point of the mechanical arm;
acquiring current pose information of the operation auxiliary device;
Judging whether the pose of the operation auxiliary device changes according to the initial pose information of the operation auxiliary device and the current pose information thereof, if so, acquiring the target position information of the stationary point according to the current pose information of the operation auxiliary device, the initial pose information of the operation auxiliary device and the initial position information of the stationary point, and correspondingly adjusting the pose of the mechanical arm according to the target position information of the stationary point;
the surgical auxiliary device is a device capable of changing the pose of an operation object in an operation scene.
Optionally, the controller is configured to obtain a preset position mapping relationship between the operation assisting device and the stationary point according to the initial pose information of the operation assisting device and the initial position information of the stationary point, and obtain target position information of the stationary point according to the current pose information of the operation assisting device and the preset position mapping relationship between the operation assisting device and the stationary point.
Optionally, the surgical auxiliary device is a supporting device for supporting a surgical object.
Optionally, the controller is configured to obtain target position information of each joint of the mechanical arm according to the target position information of the fixed point, obtain a motion track of each joint of the mechanical arm according to the target position information of each joint of the mechanical arm and current position information of each joint of the mechanical arm, and adjust a position of each joint of the mechanical arm according to the motion track of each joint of the mechanical arm.
Optionally, the controller is configured to acquire a motion track of each joint of the mechanical arm by adopting an interpolation algorithm according to the target position information of each joint of the mechanical arm and the current position information of each joint of the mechanical arm.
Optionally, the controller is configured to perform shake suppression processing on the acquired motion trajectories of the joints of the mechanical arm, and adjust positions of the joints of the mechanical arm according to the motion trajectories of the joints of the mechanical arm after the shake suppression processing.
Optionally, the controller is configured to obtain a mapping relationship between a robot coordinate system and a world coordinate system, and obtain target position information of the stationary point in the robot coordinate system according to the mapping relationship between the robot coordinate system and the world coordinate system and the target position information of the stationary point in the world coordinate system.
Optionally, the surgical robot system includes a display device, where the display device is configured to display an adjustment state of each of the mechanical arms.
In order to achieve the above object, the present invention further provides an adjustment system, which includes the surgical robot system and a positioning device, where the positioning device is configured to send pose information of the surgical auxiliary device in a surgical scene to the controller.
Optionally, the positioning device is configured to send a mapping relationship between a robot coordinate system and a world coordinate system to the controller, and the controller is configured to verify the mapping relationship between the robot coordinate system and the world coordinate system sent by the positioning device according to initial position information of the stationary point in the world coordinate system and initial position information of the stationary point in the robot coordinate system.
Optionally, the adjustment system comprises a surgical assistance device, and the controller is configured to control the surgical assistance device to perform the adjustment movement.
Optionally, the controller is configured to obtain a safe adjustable range of the surgical auxiliary device, and determine whether an adjustment motion of the surgical auxiliary device is safe according to the safe adjustable range.
Optionally, the controller is configured to obtain a safe area of the surgical object, and obtain the safe adjustable range of the surgical auxiliary device according to the obtained safe area of the surgical object, the adjustable range of the mechanical arm, and the adjustable range of the surgical auxiliary device.
To achieve the above object, the present invention also provides a readable storage medium having stored therein a computer program which, when executed by a processor, realizes the functions possessed by the controller in the surgical robot system described above.
Compared with the prior art, the surgical robot system, the adjusting system and the storage medium have the advantages that initial pose information of the surgical auxiliary device and initial position information of the fixed point of the mechanical arm in a preset surgical scene are obtained, current pose information of the surgical auxiliary device is obtained, whether the pose of the surgical auxiliary device changes or not is judged according to the initial pose information of the surgical auxiliary device and the current pose information of the surgical auxiliary device, if so, target position information of the fixed point is obtained according to the current pose information of the surgical auxiliary device, and the pose of the mechanical arm is correspondingly adjusted according to the target position information of the fixed point, so that the pose of the surgical auxiliary device can be adjusted in real time without needing any instrument and/or endoscope in the surgical process, the pose of the mechanical arm is adjusted in real time through the current pose information of the surgical auxiliary device obtained in real time, the mechanical arm is correspondingly adjusted according to the initial pose information of the surgical auxiliary device, the pose of the surgical auxiliary device is adjusted accordingly, the position of the surgical auxiliary device can be more efficiently and safely adjusted, the surgical position can be reduced, and the prior surgery position can be more safely prepared, and the time is reduced.
Drawings
Fig. 1 is a schematic view of an application scenario of a surgical robotic system according to an embodiment of the present invention;
FIG. 2 is a schematic view of an embodiment of the surgical assist device according to the present invention in a pre-adjustment position;
FIG. 3 is a schematic view of an adjusted aperture position of a surgical assist device according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a positioning device acquiring a mapping relationship between a robot coordinate system and a world coordinate system according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of the establishment of a mapping relationship between a robot coordinate system and a world coordinate system in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a positioning device according to an embodiment of the invention for measuring the position of an opening;
FIG. 7 is a schematic diagram of a real-time following surgical auxiliary device adjustment of a robotic arm according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a process for obtaining motion trajectories of joints according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of the mechanical arm following the adjustment of the operation assisting device according to an embodiment of the invention;
FIG. 10 is a schematic view of a process for obtaining a safe adjustable range of a surgical assistance device according to an embodiment of the present invention;
Fig. 11 is a flow chart illustrating a method for adjusting a surgical robot system according to an embodiment of the present invention.
Wherein, the reference numerals are as follows:
the surgical operation device comprises an operation end-100, a surgical auxiliary device-200, a control end-300, a positioning device-400, a display device-500, an opening-600, a controller-700, a base-110 and a mechanical arm-120.
Detailed Description
The surgical robot system, the adjustment system and the storage medium according to the present invention are described in further detail with reference to fig. 1 to 11 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
One of the purposes of the invention is to provide a surgical robot system, an adjusting system and a storage medium, which can realize the adjustment of the position in the operation and the real-time following adjustment of a mechanical arm under the condition that the instrument is not required to be withdrawn, so as to solve the problems that the movement space of the mechanical arm is limited, the operation is inconvenient or the focus cannot be completely cleared and the like due to the non-ideal punching position or the misjudgment of the focus position. It should be noted that, as understood by those skilled in the art, the stationary points herein are referred to as openings on the surgical object in a one-to-one correspondence, and the surgical instrument mounted on the mechanical arm can perform the operation around the stationary points of the mechanical arm during the operation. Therefore, when the pose of the surgical object changes with the adjustment of the pose of the surgical auxiliary device, the position of the opening also changes, and the position of each stationary point also needs to change, so that the position of the stationary point and the position of the opening can be kept consistent, that is, the position mapping relationship between each stationary point and the surgical auxiliary device is kept consistent with the initial preset position mapping relationship. The openings referred to in the present invention may be natural openings located on the body surface of the patient, or may be openings obtained by punching the body surface of the patient by mechanical punching, and the present invention is not limited to this.
In order to achieve the above objective, the present invention provides an adjustment system under a surgical scene, where the adjustment system includes a positioning device 400 (as shown in fig. 3 and 4 below) and a controller 700 (as shown in fig. 3 and 4 below), where the positioning device 400 is configured to obtain pose information of one or more surgical auxiliary devices 200 (as shown in fig. 1 below) under the surgical scene and send the pose information to the controller 700, and where the controller 700 is configured to determine whether the pose of the one or more surgical auxiliary devices 200 is changed according to the pose information, and if yes, correspondingly adjust the pose of one or more surgical operation devices in the surgical scene. The surgical scene is, for example, a scene when a surgical robot performs a surgery, the surgical assistance device 200 is an assistance apparatus that does not directly perform a surgical operation on a surgical object during the surgery, and in an embodiment of the present invention, the assistance apparatus includes a device capable of directly or indirectly affecting the posture of the surgical object, for example, the device is a support device for supporting the surgical object, for example, a hospital bed, and the surgical operation device is a device for performing a surgery during the surgery, for example, a surgical robot, more particularly, a mechanical arm 120 (as shown in fig. 1 below) of the surgical robot, and the mechanical arm 120 is used to connect a surgical instrument and control the mechanical arm 120 to perform the surgery.
Referring to fig. 1, a schematic application scenario diagram of a surgical robot system according to an embodiment of the present invention is shown. As shown in fig. 1, the surgical robot system includes an operation end 100 adjacent to a surgical object for performing a surgery, a control end 300 for a doctor to issue an instruction to the operation end 100, and a display device 500 for displaying, and the operation end 100 includes a base 110 and at least one robot arm 120 mounted on the base 110. The control end 300 has a master-slave control relationship with the operation end 100 and controls the mechanical arm 120 to operate. The controller 700 may be provided in combination with any one or more devices in the surgical robotic system, such as at the control end 300, at the operator end 100, at the display device 500, etc., in some embodiments, the controller 700 may also be provided at the positioning device 400, in other embodiments, the controller 700 may be provided separately, and the controller 700 may be a specific hardware or software unit, or a combination of hardware and software unit, and the present invention is not limited to a specific configuration of the controller 700.
The controller 700 is configured to obtain initial pose information of the surgical assistance device 200 and initial position information of each stationary point of the mechanical arm 120 in a preset surgical scene, obtain current pose information of the surgical assistance device 200, determine whether the pose of the surgical assistance device 200 is changed according to the initial pose information of the surgical assistance device 200 and the current pose information thereof, and if so, obtain target position information of each stationary point according to the current pose information of the surgical assistance device 200, the initial pose information of the surgical assistance device 200, and the initial position information of each stationary point, and correspondingly adjust the pose of each mechanical arm according to the target position information of each stationary point.
Referring to fig. 2 and 3, fig. 2 schematically illustrates an opening position before adjustment of the surgical assistance device according to an embodiment of the present invention, and fig. 3 schematically illustrates an opening position after adjustment of the surgical assistance device according to an embodiment of the present invention. As shown in fig. 2 and 3, when the pose of the surgical assistance device 200 is changed, the pose of the surgical object is changed, and the position of the aperture 600 on the surgical object is changed. Therefore, in the process of operation, when the pose of the operation auxiliary device 200 is adjusted according to the actual requirement of the operation, the pose of each mechanical arm can be adjusted in real time through the current pose information of the operation auxiliary device 200 acquired in real time under the condition that no instrument and/or endoscope is needed to be withdrawn, so that the position of each fixed point can be in one-to-one correspondence with the position of each opening 600 (namely, the position mapping relation between each fixed point and the operation auxiliary device 200 is kept consistent with the initial preset position mapping relation), the operation can be completed more efficiently and more safely, the requirements on the punching position and the pose before the operation are reduced, and the preparation time before the operation is reduced. It should be noted that, as will be understood by those skilled in the art, the adjustment of the posture of the operation assisting device 200 may be performed manually by a medical staff, or may be performed automatically by using an electrical component mounted on the operation assisting device 200, and preferably, the electrical component mounted on the operation assisting device 200 may adjust the posture of the operation assisting device 200 according to the control signal of the controller 700.
Further, the controller 700 is configured to obtain a preset position mapping relationship between the surgical assistance device 200 and each of the stationary points according to the initial pose information of the surgical assistance device 200 and the initial position information of each of the stationary points, and obtain target position information of each of the stationary points according to the current pose information of the surgical assistance device 200 and the preset position mapping relationship between the surgical assistance device 200 and each of the stationary points. The pose information of the surgical auxiliary device 200 may be measured by using the positioning device 400 described above, and the positioning device 400 may measure the pose by using binocular vision measurement, optical tracking measurement or electromagnetic measurement. Specifically, the preset position mapping relationship between the surgical assistance device 200 and each of the stationary points may be obtained according to the initial pose information of the surgical assistance device 200 in the world coordinate system (X0, Y0, Z0) and the initial position information of each of the stationary points in the world coordinate system (X0, Y0, Z0) measured by the positioning device 400, and the target position information of each of the stationary points in the world coordinate system (X0, Y0, Z0) may be obtained according to the current pose information of the surgical assistance device 200 in the world coordinate system (X0, Y0, Z0) and the preset position mapping relationship between the surgical assistance device 200 and each of the stationary points.
In order to better adjust the pose of each mechanical arm according to the target position information of each stationary point, the controller 700 is further configured to obtain a mapping relationship between a robot coordinate system (X1, Y1, Z1) and a world coordinate system (X0, Y0, Z0), and obtain target position information of each stationary point of the mechanical arm 120 in the world coordinate system (X1, Y1, Z1) according to the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) and the target position information of each stationary point in the world coordinate system (X0, Y0, Z0).
Specifically, the positioning device 400 may be used to obtain the position information of the base 110 in the world coordinate system (X0, Y0, Z0), and according to the position information of the base 110 in the world coordinate system (X0, Y0, Z0), the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) may be obtained. Please continue to refer to fig. 4, which schematically illustrates a mapping relationship between a robot coordinate system and a world coordinate system acquired by a positioning device according to an embodiment of the present invention. As shown in fig. 4, in the present embodiment, the positioning device 400 is a binocular camera, and by means of the positioning device 400, pose information of the surgical auxiliary apparatus 200 in the world coordinate system (X0, Y0, Z0) and pose information of the base 110 in the world coordinate system (X0, Y0, Z0) can be measured. In a specific measurement process, pose information of the base 110 and the surgical auxiliary device 200 in the camera coordinate system (X3, Y3, Z3) may be obtained by the positioning device 400, and pose information of the base 110 and the surgical auxiliary device 200 in the world coordinate system (X0, Y0, Z0) may be obtained according to a mapping relationship between the camera coordinate system (X3, Y3, Z3) and the world coordinate system (X0, Y0, Z0).
Thus, when the position of the surgical auxiliary device 200 is adjusted according to actual needs during surgery, the current position information of the surgical auxiliary device 200 in the world coordinate system (X0, Y0, Z0) is obtained in real time, and according to the preset position mapping relationship between the surgical auxiliary device 200 and each stationary point and the mapping relationship between the world coordinate system (X0, Y0, Z0) and the robot coordinate system (X1, Y1, Z1), the target position information of each stationary point in the robot coordinate system (X1, Y1, Z1) can be obtained in real time, and according to the obtained real-time target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), the pose of each mechanical arm 120 corresponding to each stationary point can be adjusted in real time, so that the mechanical arm 120 can follow the surgical auxiliary device 200 in real time to adjust without withdrawing a surgical instrument or endoscope.
Please continue to refer to fig. 5, which schematically illustrates a flowchart for establishing a mapping relationship between a robot coordinate system and a world coordinate system according to an embodiment of the present invention. As shown in fig. 5, to ensure accuracy of the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0), the controller 700 is further configured to verify the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) transmitted by the positioning device 400 based on initial position information of each stationary point of the robot arms 120 in the world coordinate system (X0, Y0, Z0) (i.e., initial position information of each aperture 600) and initial position information of each stationary point in the robot coordinate system (X1, Y1, Z1).
Specifically, before performing the surgery, the positioning device 400 may collect position information of the plurality of points on the base 110 and the plurality of points on the surgery auxiliary device 200 in the world coordinate system (X0, Y0, Z0), and the controller 700 may obtain a mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) according to the obtained position information of the plurality of points on the base 110 in the world coordinate system (X0, Y0, Z0), and may obtain a mapping relationship between the surgery auxiliary device 200 coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) according to the obtained position information of the plurality of points on the surgery auxiliary device 200 in the world coordinate system (X0, Y0, Z0). After the initial position of the opening 600 is determined, the initial position of the stationary point is determined, and if the opening 600 is formed by punching, the initial position of the stationary point is determined after the punching is completed. Referring to fig. 6, a schematic diagram of a positioning device according to an embodiment of the invention for measuring a position of an opening is shown. As shown in fig. 6, the positioning device 400 may identify initial position information of each opening 600 in the world coordinate system (X0, Y0, Z0), that is, initial position information of each stationary point, and the position sensor mounted on each joint of each arm 120 may acquire initial position information of each joint of each arm 120, and according to the initial position information of each joint of each arm 120 and in combination with the positive kinematic model, initial position information of each stationary point in the robot coordinate system (X1, Y1, Z1) may be acquired, so that the mapping relationship between the robot coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) may be re-established and verified by the initial position information of each stationary point in the world coordinate system (X0, Y0, Z0) and the initial position information of the stationary point in the robot coordinate system (X1, Y1, Z1), so as to further ensure the mapping accuracy between the robot coordinate system (X1, Y1, Z0).
With continued reference to fig. 7, a schematic diagram of the adjustment of the mechanical arm following the operation assisting device in real time according to an embodiment of the present invention is schematically shown. As shown in fig. 7, the controller 700 is specifically configured to obtain target position information of each joint of each mechanical arm 120 according to target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), and adjust positions of each joint of each mechanical arm 120 according to the target position information of each joint of each mechanical arm 120, so as to adjust positions of each mechanical arm 120. Specifically, the controller 700 may acquire the target position information of each joint of each mechanical arm 120 by using an inverse kinematics solution or other inverse solution algorithm according to the target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), and then adjust the positions of each joint of each mechanical arm 120 according to the target position information of each joint of each mechanical arm 120, so as to realize that the mechanical arm 120 follows the operation assisting device 200 in real time without withdrawing an instrument or an endoscope. In addition, according to the present invention, the target position information of each joint of each mechanical arm 120 is obtained according to the target position information of each stationary point in the robot coordinate system (X1, Y1, Z1), and then the positions of each joint of each mechanical arm 120 are adjusted according to the target position information of each joint of each mechanical arm 120, so that the calculation amount can be effectively reduced, and the positions of each joint of each mechanical arm 120 can be more quickly adjusted to the respective target positions, so that the real-time adjustment of the mechanical arm 120 following the operation assisting device 200 can be better realized.
Further, the controller 700 is specifically configured to obtain a motion track of each joint of each mechanical arm 120 according to the target position information of each joint of each mechanical arm 120 and the current position information of each joint of each mechanical arm 120, and adjust the position of each joint of each mechanical arm 120 according to the motion track of each joint of each mechanical arm 120. Specifically, the current position information of each joint of each mechanical arm 120 may be obtained by a position sensor (e.g., an encoder) mounted on each joint of each mechanical arm 120, and the controller 700 may obtain, based on the shortest time, compliance or other principles, a motion track of each joint of each mechanical arm 120 according to the target position information and the current position information of each joint of each mechanical arm 120, so that the positions of each joint of each mechanical arm 120 may be adjusted according to the obtained motion track of each joint of each mechanical arm 120, so as to implement that the mechanical arm 120 follows the operation assisting device 200 in real time without withdrawing an instrument or an endoscope. Therefore, according to the present invention, the movement track of each joint of each mechanical arm 120 is planned according to the target position information and the current position information of each joint of each mechanical arm 120, and then the positions of each joint of each mechanical arm 120 are adjusted according to the planned movement track, so that the positions of each joint of each mechanical arm 120 can be adjusted to the respective target positions more quickly, and the real-time performance of the adjustment of the mechanical arm 120 following the adjustment of the operation assisting device 200 is further improved.
Preferably, please refer to fig. 8, which schematically illustrates a flowchart for acquiring motion trajectories of each joint according to an embodiment of the present invention. As shown in fig. 8, the controller 700 is specifically configured to obtain the motion trail of each joint of each mechanical arm 120 by using an interpolation algorithm according to the target position information of each joint of each mechanical arm 120 and the current position information of each joint of each mechanical arm 120. Since the sampling frequency of the target position information of the stationary point is smaller than the control frequency of the joint position control of the mechanical arm 120, by adopting an interpolation algorithm to obtain the motion track of the joint, the stability of the joint motion can be improved, and the stability of the mechanical arm 120 in the process of adjusting along with the adjustment of the operation auxiliary device 200 is further ensured.
It should be noted that, as those skilled in the art can understand, the interpolation algorithm used in the present invention includes, but is not limited to, a linear interpolation algorithm, a polynomial interpolation algorithm, a trigonometric interpolation algorithm, and an exponential interpolation algorithm. The present invention will not be described in detail with reference to the prior art for how to obtain the motion trajectories of each joint by using interpolation algorithms such as linear interpolation, polynomial interpolation, trigonometric function interpolation, exponential function interpolation, etc.
Further, as shown in fig. 8, the controller 700 is further configured to perform a shake suppression process on the acquired motion trajectories of the joints of the mechanical arms 120, and output motion instructions of the joints according to the motion trajectories of the joints of the mechanical arms 120 after the shake suppression process, so as to adjust positions of the joints of the mechanical arms 120. Thus, the present invention performs the shake suppression processing on the acquired motion trajectories of the joints of each mechanical arm 120, so that the motion trajectories of the joints can be smoothed, and the stability of the mechanical arm 120 in the process of following the adjustment of the operation support device 200 can be further improved.
Specifically, the invention can adopt mean value filtering, differential threshold value filtering or other curve smoothing algorithms to carry out jitter suppression processing on the obtained motion trail of each joint. Regarding how to perform filtering processing (i.e., jitter suppression processing) on the obtained motion trajectories of each joint by using curve smoothing algorithms such as mean filtering, differential threshold filtering, etc., reference may be made to the prior art, and the disclosure of the present invention will not be repeated.
Preferably, please continue to refer to fig. 9, which schematically illustrates a flowchart of the adjustment of the mechanical arm following the operation assisting device according to an embodiment of the present invention. As shown in fig. 9, the controller 700 is further configured to obtain a safety adjustable range of the surgical assist device 200, and determine whether the adjustment movement of the surgical assist device 200 is safe according to the safety adjustable range. Therefore, by acquiring the safe adjustable range of the operation assisting device 200 and judging whether the adjusting movement of the operation assisting device 200 is safe or not according to the safe adjustable range, the adjusting movement of the operation assisting device 200 can be performed within the safe adjustable range, and damage to an operation object due to the fact that the adjusting movement of the operation assisting device 200 exceeds the safe adjustable range is effectively prevented. Further, if the controller 700 determines that the adjustment position of the surgical auxiliary device 200 is close to the boundary of the safe adjustable range, the system of the surgical robot 100 is instructed to send alarm information and/or lock the surgical auxiliary device 200 in advance, so as to further prevent injury to the surgical object caused by the adjustment movement of the surgical auxiliary device 200 exceeding the safe adjustable range, and improve the safety of the mechanical arm 120 following the adjustment of the surgical auxiliary device 200.
Specifically, please refer to fig. 9 and fig. 10, wherein fig. 10 schematically illustrates a flowchart of an acquisition procedure of a safety adjustable range of an operation assisting device according to an embodiment of the present invention. As shown in fig. 9 and 10, the controller 700 is further configured to obtain a safe area of the surgical object, and obtain a safe adjustable range of the surgical assistance device 200 according to the obtained safe area of the surgical object, the adjustable range of the mechanical arm 120, and the adjustable range of the surgical assistance device 200. The safe area of the surgical object may be obtained by identifying the surgical object area, specifically, the surgical object area may be scanned by the positioning device 400 to obtain three-dimensional geometric information of the surgical object area, and the safe area of the surgical object may be obtained according to the obtained three-dimensional geometric information of the surgical object area.
Preferably, the controller 700 is further configured to instruct the surgical robot 100 system to issue an alarm message when it is determined that the adjustment speed of the surgical assist device 200 is too high. In this way, the present invention can further improve the safety of the adjustment of the mechanical arm 120 following the adjustment of the surgical assist device 200 by sending out the alarm information when the adjustment speed of the surgical assist device 200 is too high. Specifically, for the embodiment of automatically adjusting the operation assisting device 200, the controller 700 may obtain the adjustment speed of the operation assisting device 200 according to the rotation speed of the electrical component mounted on the operation assisting device 200, and for the embodiment of manually or manually assisting in adjusting the operation assisting device, the controller may obtain the adjustment speed of the operation assisting device according to the position information of the operation assisting device obtained by the positioning device, so that when the adjustment speed of the operation assisting device 200 exceeds a predetermined threshold, corresponding indication information, such as an alarm or starting different indicator lamps, may be sent.
Preferably, as shown in fig. 9, the controller 700 is further configured to instruct the surgical robot 100 system to issue an alarm message and/or lock the mechanical arm 120 when it is determined that the mechanical arm 120 is about to approach the boundary of the safety adjustable range of the surgical auxiliary device 200. Thus, the present invention can further improve the safety of the adjustment of the manipulator 120 following the adjustment of the surgical assist device 200 by sending out the alarm information when it is determined that the manipulator 120 is about to approach the safety boundary.
Preferably, as shown in fig. 1, the adjustment system further includes a display device 500, where the display device 500 is configured to display an adjustment status of the surgical auxiliary device 200 and/or each of the mechanical arms 120. Therefore, by displaying the adjustment status of the operation assisting device 200 and/or each mechanical arm 120, the adjustment status of the operation assisting device 200 and/or the mechanical arms 120 can be monitored and tracked in real time, so that a medical staff can observe the adjustment status of the operation assisting device 200 and/or the mechanical arms 120 in real time, and further, when the mechanical arms 120 delay or are close to the safety adjustable range along with the adjustment movement of the operation assisting device 200, the mechanical arms 120 can be stopped in time, and/or when the adjustment movement of the operation assisting device 200 is close to the safety adjustable range, the adjustment movement of the operation assisting device 200 can be stopped in time, so that the safety of the mechanical arms 120 along with the adjustment of the operation assisting device 200 is further improved. Specifically, the state and alarm information in the tracking process can be displayed and prompted in a man-machine interface, lamplight, sound effect and other modes.
In correspondence to the surgical robot system described above, the present invention further provides a readable storage medium, in which a computer program is stored, please refer to fig. 11, which schematically shows a flowchart of a method for adjusting a surgical robot system according to an embodiment of the present invention. As shown in fig. 11, the computer program, when executed by a processor, may implement the steps of:
step S1, acquiring initial pose information of an operation auxiliary device and initial position information of a fixed point of each mechanical arm under a preset operation scene.
And S2, acquiring current pose information of the operation auxiliary device.
And step S3, judging whether the pose of the operation auxiliary device changes or not according to the initial pose information and the current pose information of the operation auxiliary device.
If yes, the following steps S4 and S5 are executed:
And S4, acquiring target position information of each stationary point according to the current pose information of the operation auxiliary device, the initial pose information of the operation auxiliary device and the initial position information of each stationary point.
And S5, correspondingly adjusting the pose of each mechanical arm according to the target position information of each fixed point.
Therefore, when the computer program stored on the storage medium provided by the invention is executed by the processor, the pose of each mechanical arm can be adjusted in real time through the current pose information of the surgical auxiliary device acquired in real time under the condition that the instrument and/or the endoscope are not required to be withdrawn when the pose of the surgical auxiliary device is adjusted due to the actual requirement of the surgery in the surgical process, so that the corresponding adjustment of each mechanical arm along with the pose adjustment of the surgical auxiliary device in real time is realized, the surgery can be completed more efficiently and safely, the requirements on the pre-surgery punching position and the swing position are reduced, and the pre-surgery preparation time is shortened.
In some embodiments, the obtaining the target position information of each stationary point according to the current pose information of the surgical auxiliary device, the initial pose information of the surgical auxiliary device, and the initial position information of each stationary point includes:
Acquiring a preset position mapping relation between the operation auxiliary device and each motionless point according to the initial pose information of the operation auxiliary device and the initial position information of each motionless point;
And acquiring target position information of each stationary point according to the current pose information of the operation auxiliary device and a preset position mapping relation between the operation auxiliary device and each stationary point.
In some embodiments, the adjusting the pose of each mechanical arm according to the target position information of each stationary point includes:
acquiring target position information of each joint of each mechanical arm according to the target position information of each stationary point;
acquiring the motion trail of each joint of each mechanical arm according to the target position information of each joint of each mechanical arm and the current position information of each joint of each mechanical arm;
and adjusting the positions of the joints of the mechanical arms according to the motion trail of the joints of the mechanical arms.
In some embodiments, the obtaining the motion trail of each joint of each mechanical arm according to the target position information of each joint of each mechanical arm and the current position information of each joint of each mechanical arm includes:
And acquiring the motion trail of each joint of each mechanical arm by adopting an interpolation algorithm according to the target position information of each joint of each mechanical arm and the current position information of each joint of each mechanical arm.
In some embodiments, the adjusting the position of each joint of each mechanical arm according to the motion track of each joint of each mechanical arm includes:
performing jitter suppression processing on the acquired motion trail of each joint of each mechanical arm;
and adjusting the positions of the joints of the mechanical arms according to the motion tracks of the joints of the mechanical arms after the jitter suppression processing.
The readable storage media of embodiments of the present invention may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
In summary, compared with the prior art, the surgical robot system, the adjusting system and the storage medium have the advantages that initial pose information of the surgical auxiliary device and initial position information of the motionless points of the mechanical arms in a preset surgical scene are obtained, current pose information of the surgical auxiliary device is obtained, whether the pose of the surgical auxiliary device changes or not is judged according to the initial pose information of the surgical auxiliary device and the current pose information of the surgical auxiliary device, if so, target position information of the motionless points is obtained according to the current pose information of the surgical auxiliary device, and the pose of the mechanical arms is correspondingly adjusted according to the target position information of the motionless points, so that the pose of the mechanical arms can be adjusted in real time under the condition that an instrument and/or an endoscope are not required to be withdrawn when the pose of the surgical auxiliary device is adjusted due to the actual need of surgery, the fact that the surgical auxiliary device is obtained in real time, the pose of the mechanical arms is adjusted in real time, the fact that the mechanical arms follow the pose adjustment of the surgical auxiliary device in real time is achieved, accordingly, the position of the surgical auxiliary device can be adjusted, the surgical position can be more efficiently adjusted, the requirements can be reduced, and the surgical position can be reduced, and the prior surgery can be prepared more safely, and the time can be reduced.
It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention is intended to include such modifications and alterations insofar as they come within the scope of the invention or the equivalents thereof.
Claims (11)
1. The surgical robot system is characterized by comprising a control end, an operation end and a controller, wherein the operation end comprises at least one mechanical arm, the control end and the operation end have a master-slave control relationship and are used for controlling the mechanical arm to operate, and the controller is used for:
acquiring initial pose information of an operation auxiliary device under a preset operation scene and initial position information of a fixed point of the mechanical arm;
acquiring current pose information of the operation auxiliary device;
judging whether the pose of the operation auxiliary device changes according to the initial pose information of the operation auxiliary device and the current pose information thereof, if so, acquiring the target position information of the stationary point according to the current pose information of the operation auxiliary device, the initial pose information of the operation auxiliary device and the initial position information of the stationary point, and correspondingly adjusting the pose of the mechanical arm according to the target position information of the stationary point;
The surgical auxiliary device is a device capable of changing the pose of an operation object in an operation scene;
the controller is used for acquiring a preset position mapping relation between the operation auxiliary device and the fixed point according to the initial pose information of the operation auxiliary device and the initial position information of the fixed point, and acquiring target position information of the fixed point according to the current pose information of the operation auxiliary device and the preset position mapping relation between the operation auxiliary device and the fixed point;
The controller is used for acquiring target position information of each joint of the mechanical arm according to the target position information of the fixed point, acquiring the motion trail of each joint of the mechanical arm according to the target position information of each joint of the mechanical arm and the current position information of each joint of the mechanical arm, performing jitter suppression processing on the acquired motion trail of each joint of the mechanical arm, and adjusting the position of each joint of the mechanical arm according to the motion trail of each joint of the mechanical arm after the jitter suppression processing.
2. The surgical robotic system of claim 1, wherein the surgical assistance device is a support device for supporting a surgical object.
3. The surgical robot system according to claim 1, wherein the controller is configured to acquire the motion trail of each joint of the mechanical arm by using an interpolation algorithm according to the target position information of each joint of the mechanical arm and the current position information of each joint of the mechanical arm.
4. The surgical robot system of claim 1, wherein the controller is configured to obtain a mapping relationship between a robot coordinate system and a world coordinate system, and obtain target position information of the stationary point in the robot coordinate system based on the mapping relationship between the robot coordinate system and the world coordinate system and the target position information of the stationary point in the world coordinate system.
5. The surgical robotic system of claim 1, wherein the surgical robotic system includes a display device for displaying an adjustment status of each of the robotic arms.
6. An adjustment system comprising the surgical robotic system of any one of claims 1-5 and a positioning device for transmitting pose information of the surgical assistance device in a surgical scene to the controller.
7. The adjustment system of claim 6, wherein the positioning device is configured to send a mapping relationship between a robot coordinate system and a world coordinate system to the controller, and the controller is configured to verify the mapping relationship between the robot coordinate system and the world coordinate system sent by the positioning device based on initial position information of the stationary point in the world coordinate system and initial position information of the stationary point in the robot coordinate system.
8. The adjustment system of claim 6, wherein the adjustment system includes a surgical assist device, the controller for controlling the surgical assist device to perform an adjustment motion.
9. The adjustment system of claim 8, wherein the controller is configured to obtain a safe adjustable range of the surgical assist device and determine whether the adjustment movement of the surgical assist device is safe based on the safe adjustable range.
10. The adjustment system of claim 9, wherein the controller is configured to obtain a safe area of the surgical object and obtain the safe adjustable range of the surgical assistance device based on the obtained safe area of the surgical object, the adjustable range of the robotic arm, and the adjustable range of the surgical assistance device.
11. A readable storage medium having stored therein a computer program which, when executed by a processor, implements the functions possessed by the controller in the surgical robotic system of any one of claims 1 to 5.
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| CN202110507239.8A CN115317130B (en) | 2021-05-10 | 2021-05-10 | Surgical robot system, adjustment system, and storage medium |
| PCT/CN2022/089510 WO2022237538A1 (en) | 2021-05-10 | 2022-04-27 | Surgical robot system, adjustment system, and storage medium |
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| CN202110507239.8A CN115317130B (en) | 2021-05-10 | 2021-05-10 | Surgical robot system, adjustment system, and storage medium |
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| CN115969524A (en) * | 2022-12-27 | 2023-04-18 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Surgical control system, control method and electronic device |
| CN116019564B (en) * | 2023-03-28 | 2023-07-28 | 北京壹点灵动科技有限公司 | Knee joint operation robot and control method |
| CN119655884B (en) * | 2023-09-21 | 2025-10-28 | 武汉联影智融医疗科技有限公司 | Control method, system and device of surgical robot and computer equipment |
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| CN117243699B (en) * | 2023-11-14 | 2024-03-15 | 杭州三坛医疗科技有限公司 | Displacement detection method and device |
| CN118340584A (en) * | 2024-03-29 | 2024-07-16 | 深圳技术大学 | A master-slave device control system and control method thereof |
| CN118181306B (en) * | 2024-05-17 | 2024-08-30 | 上海术之道医疗器械有限公司 | Robot control method, apparatus, control device, and readable storage medium |
| CN120053084B (en) * | 2025-02-06 | 2026-02-03 | 天津大学医疗机器人与智能系统研究院 | Remote medical robot control method and control system for controlling remote medical robot |
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