WO2023040632A1 - Computer-readable storage medium, alignment method and system, surgical robot system, and electronic device - Google Patents

Abstract

The present application provides a computer-readable storage medium, an alignment method and system, a surgical robot system, and an electronic device. The alignment method is used for aligning a mechanical arm with a guide apparatus inserted into a target object. The mechanical arm comprises a plurality of joints. The alignment method comprises: obtaining a pose of the guide apparatus; planning a target pose of the aligned mechanical arm according to the pose of the guide apparatus; and obtaining the current position of the joint, planning a target motion direction of the at least one joint according to the current position of the joint and the target pose of the mechanical arm, and guiding a corresponding joint to move in the target motion direction. By using the alignment method, the mechanical arm of the surgical robot is aligned with the guide apparatus, such that the alignment precision and the alignment efficiency can be improved.

Description

Computer-readable storage medium, alignment method and system, surgical robot system, and electronic device technical field

The present application relates to the technical field of medical equipment, and in particular to a computer-readable storage medium, an alignment method and system, a surgical robot system, and electronic equipment.

Background technique

Surgical robots are designed to precisely perform complex surgical procedures in a minimally invasive manner. Surgical robots have been developed in the face of various limitations in traditional surgical operations. Surgical robots have broken through the limitations of the human eye. They can use stereoscopic imaging technology to present the internal organs of the human body to the operator more clearly. And for the narrow areas where 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 less bleeding , fast postoperative recovery, and greatly shorten the postoperative hospital stay of the surgical object. Therefore, surgical robots are favored by doctors and patients, and are widely used in their respective clinical operations.

In the process of using a surgical robot to perform surgery, it is necessary to use a guide device such as a troca to provide a passage for surgical instruments to enter and exit the cavity. Therefore, before the operation, it is first necessary to connect the robotic arm of the surgical robot The guiding device (such as a poking card) is aligned, but there is no effective alignment method in the prior art, resulting in the alignment of the mechanical arm and the guiding device taking a lot of time, which affects the efficiency of the operation.

Contents of the invention

The purpose of the present application is to provide a computer-readable storage medium, an alignment method and system, and a surgical robot system, aiming at quickly realizing the alignment operation of the robotic arm and the guiding device.

In order to achieve the above object, the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed, it is used to perform an alignment method to align the robotic arm with the surgical instrument for providing The guiding device of the surgical channel is aligned, the robotic arm includes several joints, and the alignment method includes:

Step S1: Obtain the pose of the guiding device;

Step S2: Plan the aligned target pose of the robotic arm according to the pose of the guiding device; and,

Step S3: Obtain the current position of the joint, plan the target motion direction of at least one joint according to the current position of the joint and the target pose of the robot arm, and guide the corresponding joint to move in accordance with the target motion direction .

Optionally, when the robotic arm is in the target pose, the tip of the robotic arm faces toward the instrument hole of the guiding device and is spaced from the instrument hole by a predetermined distance.

Optionally, the step S2 includes: establishing a mapping relationship between the coordinate system of the robot arm and the coordinate system of the guiding device, and planning the robot according to the mapping relationship and the pose of the guiding device. The target pose of the arm.

Optionally, the step S3 includes:

Step S31: Obtain the target position of the Nth joint of the robotic arm according to the target pose of the robotic arm;

Step S32: acquiring the current position of the Nth joint;

Step S33: calculating the difference between the target position of the Nth joint and the current position;

Step S34: judging whether the Nth joint has been aligned according to the difference between the target position of the Nth joint and the current position, if not, execute step S35;

Step S35: Planning the target movement direction of the Nth joint according to the difference between the target position of the Nth joint and the current position, and directing the Nth joint to move along the target movement direction to perform alignment operation, where N is a positive integer.

Optionally, during the process of guiding the alignment of the Nth joint, the step S32 to the step S35 are repeatedly executed in a loop until the alignment of the Nth joint is completed.

Optionally, the step S3 further includes: when it is determined that the Nth joint has moved to the target position corresponding to the joint, generating first prompt information.

Optionally, when all joints of the robotic arm have moved to corresponding target positions, the alignment method further includes the following step S4: generating second prompt information.

Optionally, the alignment method is used to respectively align a plurality of the robotic arms with a plurality of the guide devices that have been inserted into the target object; the alignment method further includes:

Step S0: Select the robotic arm to be aligned; and,

Step S5: judging whether all the alignment operations of the robotic arms are completed, if not, then at least repeatedly execute the step S0 to the step S4; if yes, execute the step S6;

Step S6: generating third prompt information;

Wherein, the step S0 is executed before the step S3, and the step S5 is executed after the step S4.

Optionally, the alignment method further includes: prompting the information about the moving direction of the target on a prompting unit.

Optionally, the prompting unit prompts the target movement direction information through at least one of sound indication, light indication or graphic indication.

Optionally, the target motion direction of the joint includes a rotation direction or a translation direction of the joint.

To achieve the above object, the present application also provides an alignment method, which is an alignment method executed by a program stored on a computer-readable storage medium as described in any one of the preceding items.

In order to achieve the above purpose, the present application also provides an alignment system, including a control unit and a prompt unit, the control unit is configured to execute the aforementioned alignment method, the prompt unit and the control unit The communication connection is at least used for receiving and prompting the target movement direction information.

Optionally, the prompt unit includes at least one of a sound prompt mechanism, a light prompt mechanism, and a display screen.

Optionally, the alignment system further includes a positioning device, the positioning device is communicatively connected with the control unit, and is used to collect the three-dimensional coordinate information of the mechanical arm and the guiding device, and the control unit according to the Establishing a mapping relationship between the coordinate system of the robotic arm and the coordinate system of the guiding device based on the three-dimensional coordinate information of the robotic arm and the guiding device.

Optionally, the control unit also acquires the position information of the joint according to the three-dimensional coordinate information of the mechanical arm.

Optionally, the alignment system further includes several position acquisition devices, the position acquisition devices are used to acquire the position information of the joints; the control unit communicates with the position acquisition devices, and receives the position information of the joints. location information.

To achieve the above purpose, the present application also provides a surgical robot system, including a surgical operation device and the alignment system described in any one of the preceding items, the surgical operation device includes a mechanical arm, and the end of the mechanical arm is used to connect the surgical An instrument, the alignment system for aligning the robotic arm with a guide for providing surgical access for the surgical instrument.

To achieve the above object, the present application also provides an electronic device, the electronic device includes a processor and the computer-readable storage medium according to any one of the preceding items, the processor is configured to execute the computer-readable A program stored on a storage medium.

Compared with the prior art, the computer-readable storage medium, alignment method and system, and surgical robot system of the present application have the following advantages:

The aforementioned computer-readable storage medium stores a program, and when the program is executed, an alignment method is executed, and the alignment method is used to align the robotic arm with the guide device for providing the surgical channel for the surgical instrument. Alignment, the mechanical arm includes several joints, the alignment method includes the following steps: obtaining the pose of the guiding device; planning the aligned position of the robotic arm according to the pose of the guiding device target pose; and, obtaining the current position of the joint, and planning a target motion direction of at least one joint according to the current position of the joint and the target pose of the mechanical arm, and directing the corresponding joint to follow the The target moves in the direction of motion to perform the alignment operation. That is, by planning the target pose of the mechanical arm in advance, and generating the target motion direction of each joint of the mechanical arm accordingly, each joint is moved according to the target motion direction, so that the mechanical arm can accurately The guides align and also improve alignment efficiency and convenience.

The aforementioned surgical robot system includes a robotic arm and a control unit, the control unit is connected to the robotic arm in communication, and is configured to perform the aforementioned alignment method, so that the surgical robotic system performs the alignment between the robotic arm and the During the aligning operation of the guiding device, it has better accuracy and higher aligning efficiency.

Description of drawings

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

FIG. 1 is a schematic diagram of an application scenario of a surgical robot system provided by an embodiment of the present application;

Fig. 2 is a schematic structural view of the surgical operation device of the surgical robot system provided by the embodiment of the present application, in which three mechanical arms are shown;

Fig. 3 is a schematic diagram of the alignment between the robotic arm and the guiding device of the surgical robot system provided by the embodiment of the present application, and four robotic arms are shown in the figure;

FIG. 4 is an overall flow chart of aligning the robotic arm of the surgical robot system with the guiding device by the alignment method provided in the embodiment of the present application;

Fig. 5 is a detailed flow chart of the surgical robot system provided by an embodiment of the present application when performing the alignment operation of the robotic arm and the guide device. In the illustration, the voice prompt mechanism prompts the target movement direction information, the first prompt information, the second prompt information and the third prompt information;

Fig. 6 is a schematic structural diagram of a positioning device of a surgical robot system provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of the positioning principle of the positioning device of the surgical robot system provided by the embodiment of the present application;

Fig. 8 is a schematic diagram of the mapping relationship between the coordinate system of the mechanical arm and the coordinate system of the guiding device established by using the positioning device in the surgical robot system provided by the embodiment of the present application;

9 is a schematic diagram of the mapping relationship between the coordinate system of the robotic arm and the coordinate system of the guiding device established by the surgical robot system provided by the embodiment of the present application. The figure shows a robotic arm and does not show the positioning device;

Fig. 10 is a schematic diagram of the movement direction, movement angle or movement distance of each joint of the robotic arm of the surgical robot system provided by the embodiment of the present application during the alignment operation;

Fig. 11 is a schematic diagram of the movement direction of each joint of the adjustment arm of the robotic arm of the surgical robot system provided by the embodiment of the present application during the alignment operation;

Fig. 12 is a schematic diagram of the movement direction of each joint of the tool arm of the robotic arm of the surgical robot system provided by the embodiment of the present application during the alignment operation, and the direction of the arrow in the figure is the positive direction of the joint movement;

Fig. 13 is a schematic diagram of the movement direction of the first joint of the robotic arm of the surgical robot system provided by the embodiment of the present application, in which "+" and "-" indicate the positive and negative directions of the first joint movement;

Fig. 14 is a detailed flowchart of the control unit of the surgical robot system provided in the embodiment of the present application judging whether each joint needs to perform an alignment operation and planning the target movement direction;

Fig. 15 is a schematic diagram of a partial result of the surgical robot system provided by an embodiment of the present application, and the prompt unit in the illustration is the first light prompt mechanism;

Fig. 16 is an enlarged schematic diagram at A of the surgical robot system described in Fig. 15;

Fig. 17 is a detailed flow chart of the surgical robot system provided by an embodiment of the present application during the alignment operation between the robotic arm and the guiding device. prompt information and the third prompt information;

Fig. 18 is a partial structural schematic diagram of the surgical robot system provided by the present application according to Embodiment 4, and the prompt unit in the illustration is the second light prompt mechanism;

Fig. 19 is an enlarged schematic diagram at B of the surgical robot system shown in Fig. 18;

Fig. 20 is a schematic diagram of a partial structure of the surgical robot system provided by the present application according to Embodiment 5, and the prompt unit shown in the figure is a display screen;

FIG. 21 is an enlarged schematic view at point C of the surgical robot system shown in FIG. 20 .

[the reference signs are explained as follows]:

10-Doctor control device, 20-Surgical operation device, 21-Operating platform, 22-Robot arm, 221-Adjusting arm, 221a-First joint, 221b-Second joint, 221c-Third joint, 221d-Fourth Joint, 222-tool arm, 222a-fifth joint, 222b-sixth joint, 30-display device, 41-indicator group, 41a-first indicator light, 41b-second indicator light, 41c-third indicator light , 42-display screen, 42a-first arrow, 42b-second arrow, 42c-confirmation symbol;

1-target object, 2-guide device, 3-surgical instrument, 4-binocular vision device.

Detailed ways

Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of the application, and only the components related to the application are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the component layout type may also be more complicated.

In addition, each embodiment of the content described below has one or more technical features, but this does not mean that the applicant must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. Some or all of the technical features. In other words, on the premise that the 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 application and depending on the design specifications or implementation requirements, or Selectively implement a combination of some or all of the technical features in multiple embodiments, thereby increasing the flexibility of implementing the present application.

As used in this specification, the singular forms "a", "an" and "the" include plural objects, and the plural form "a plurality" includes two or more objects, unless the content clearly states otherwise. As used in this specification, the term "or" is generally used in the sense including "and/or", unless the content clearly indicates otherwise, and the terms "install", "connect" and "connect" should be To understand it 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 directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In order to make the purpose, advantages and features of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. It should be noted that the drawings are all in very simplified form and use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present application. The same or similar reference numerals in the drawings represent the same or similar components.

Fig. 1 shows a schematic diagram of an application scenario of a surgical robot system. As shown in FIG. 1 , the surgical robot system includes a control terminal and an execution terminal, and the control terminal includes a doctor console and a doctor terminal control device 10 arranged on the doctor console. The executive end includes a patient-end control device (not marked in the figure), a surgical operation device 20 , an image display device 30 and other equipment. FIG. 2 shows a schematic structural view of the surgical operation device 20 . As shown in FIG. 2 , the surgical operation device 20 includes an operation platform 21 and a plurality of mechanical arms 22 . Wherein, at least one of the mechanical arms 22 is used to mount an image acquisition device (not shown in the figure), and the image acquisition device is communicatively connected with the display device 30 . The image acquisition device is used to pass through the instrument hole of the guiding device 2 pre-inserted on the target object 1, and enter the inside of the target pair 1, so as to obtain the image information of the inside of the target object 1, and send it to The display device 30 performs display. And, at least one of the mechanical arms 22 is used to mount the surgical instrument 3, and the surgical instrument 3 is used to pass through the instrument hole of the guide device 2 pre-inserted on the target object 1 and enter into the target object 1. inside to perform surgical operations (that is, the instrument hole of the guide device 2 provides a surgical channel for the surgical instrument 3 ). Here, the target object 1 is, for example, a patient, and the target object 1 shown in FIG. 3 is a simulated human body model. The guiding device 2 is, for example, a poking card. Those skilled in the art can understand that one guide device 2 is used to provide a surgical channel for one image acquisition device or one surgical instrument 3 to enter the target object 1 . And, each of the mechanical arms 22 includes several joints (not marked in FIG. 1 and FIG. 2 ).

As shown in FIG. 3 , before using the surgical robot system to perform minimally invasive surgery, it is necessary to align the robotic arm 22 with the corresponding guide device 2 . Therefore, the core idea of the present application is to provide a computer-readable storage medium on which a program is stored. When the program is executed, an alignment method is executed so that the mechanical arm 22 and the corresponding guiding device 2 alignment. As shown in Figure 4, the alignment method may include the following steps:

Step S1: Obtain the pose of the guiding device 2 .

Step S2: Plan the aligned target pose of the robotic arm 22 according to the pose of the guiding device 2 . as well as,

Step S3: Obtain the current position of the joint, plan the target motion direction of at least one joint according to the current position of the joint and the target pose of the mechanical arm 22, and guide the corresponding joint to follow the target motion direction move.

Wherein, the target pose refers to the pose of the robotic arm 22 when the end of the robotic arm 22 faces the instrument hole of the guiding device 2 and is separated from the instrument hole by a predetermined distance.

The computer-readable storage medium is disposed on a control unit (not shown in the figure), that is, the alignment method is executed by the control unit. The embodiment of the present application does not limit the setting manner of the control unit, as long as it can realize corresponding functions. Optionally, the control unit is integrally disposed at the doctor-end control device 10 of the surgical robot system, or the control unit is entirely disposed at the patient-end control device, or a part of the control unit is It is set at the doctor-side control device 10 , and another part is set at the patient-side control device, or, the control unit is independent from the doctor-side control device 10 and the patient-side control device.

Optionally, the joints of the mechanical arm 22 are manually controlled to move. In this case, the step S3 further includes: prompting information on the target movement direction on a prompt unit. Therefore, the operator can intuitively obtain the information of the target motion direction, and control the motion of the joint accordingly. Alternatively, the movement of the joints of the robotic arm 22 is controlled by the control unit until the robotic arm 22 reaches the target pose. Certainly, during the process of the control unit controlling the movement of the joint, the information of the target movement direction may also be prompted on the prompting unit. It should be noted that manually controlling the motion of the joint refers to manually controlling the joint to start moving, stop moving, move direction, and move distance. In the process of manually controlling the motion of the joint, the motion of the joint can be driven by a driving mechanism or manually. Controlling the motion of the joint by the control unit means that the control unit controls the joint to start moving, stop moving, move direction, and move distance.

Please refer back to FIG. 3 , the surgical operation device 20 includes a plurality of robotic arms 22 , for example four, and each robotic arm 22 is connected with the surgical instrument 3 or the image acquisition device. Correspondingly, four guiding devices 2 are arranged on the target object 1 . Then, as shown in FIG. 5 , when executing the alignment method, the control unit should also execute step S0: select the robot arm 22 to be aligned currently.

In some embodiments, the step S0 is executed before the step S1, and when the step S1 is executed, the control unit acquires the guide corresponding to the currently to-be-aligned robotic arm 22 The pose of the guiding device 2, or obtain the poses of all the guiding devices 2. In some other embodiments, the step S0 is executed after the step S1 and before the step S2, and when the step S1 is executed, the control unit obtains all the positions of the guiding device 2 pose, and in the step S2, the control unit plans the target pose of the robotic arm 22 to be aligned at present, or plans the target pose of all the robotic arms 22 . In some other embodiments, the step S0 is performed after the step S2 and before the step S3, and in the step S2, the control unit plans all the target poses of the robotic arms 22 .

Next, taking the case where the motion of the joint is manually controlled and the step S0 is performed after the step S2 and before the step S3 as an example, each step of the alignment method will be described in detail.

In the step S1, the control unit may obtain the pose of the guiding device 2 according to the image information of the guiding device 2 . The image information of the guiding device 2 is collected by a positioning device, as shown in FIG. 6 , the positioning device is, for example, a binocular vision device 4 , and the binocular vision device 4 is communicatively connected with the control unit.

The binocular vision device 4 generally uses dual cameras to simultaneously acquire two digital images of the measured object from different angles, and restores the three-dimensional geometric information of the measured object based on the parallax principle to obtain the position of the measured object. Fig. 7 schematically shows the principle of three-dimensional measurement of the binocular vision device. Please refer to Fig. 7, the point P(x, y, z) is a feature point on the measured object, O _l is the optical center of the left camera, and O _r is the optical center of the right camera. If we use the left camera to observe point P, we can see that its image point on the left camera is located at P _l , but we cannot know the three-dimensional position of P from P _l , in fact, any point on the line O _l P _l is on the left camera The image points of are all P _l , therefore, from the position of point P _l , we can only know that the spatial point P is located on the straight line O _l P _l . Similarly, from the perspective of the right camera, we can only know that the space point P is located on the straight line O _r P _r . Thus, when two cameras capture the same feature point P(x, y, z) of the measured object at the same time, the intersection of the straight line O _l P _l and the straight line O _r P _r is the position of the spatial point P, namely The three-dimensional coordinates of the spatial point P are uniquely determined.

Further, the optical center distance of the two cameras is the baseline b, and the focal lengths of the two cameras are both f. The two cameras shoot the same feature point P(x,y,z) of the measured object at the same moment, and obtain the following relationship according to the principle of similar triangles:

And then get:

Thus, the three-dimensional coordinate information of the feature point P on the object to be measured under the coordinate system _F1 of the binocular vision device 4 can be obtained, and then according to the coordinate system F1 of the binocular vision device ₄ and the world coordinate system The mapping relationship of F ₀ obtains the three-dimensional coordinate information of the feature point P in the world coordinate system F ₀ . Based on this, obtain the three-dimensional coordinate information of other feature points on the measured object under the coordinate system _F1 of the binocular vision device 4, so that the control unit can The three-dimensional coordinate information in the system F ₀ is used to reconstruct the model of the measured object, and the pose of the guiding device 2 in the world coordinate system F ₀ is obtained. Those skilled in the art know how to establish the mapping relationship between the coordinate system F1 of the binocular vision device ₄ and the world coordinate system _F0 , which will not be introduced here. In addition, a target (not shown in the figure) that can be recognized by the binocular vision device 4 may be set on the guiding device 2 .

The step S2 is specifically planning the robotic arm 22 according to the mapping relationship between the coordinate system _F3 of the robotic arm 22 and the corresponding coordinate system _F2 of the guiding device 2 and the pose of the guiding device 2 target pose.

Wherein, the embodiment of the present application utilizes the binocular vision device 4 to establish the mapping relationship between the coordinate system _F3 of the mechanical arm 22 and the corresponding coordinate system _F2 of the guiding device 2 (as shown in FIG. 8, FIG. The guiding device is not shown in , but the coordinate system F ₂ of the guiding device is shown). Specifically, when the binocular vision device 4 collects the image information of the guidance device 2, the coordinate system F ₂ of the guidance device 2 and the binocular vision device 2 can be established in the world coordinate system F ₀ . The mapping relationship of the coordinate system F ₁ of the visual device 4 . Similarly, when utilizing the binocular vision device 4 to collect the image information of the manipulator 22, set up the coordinate system _F3 of the manipulator 22 and the coordinates of the binocular vision device 4 under the world coordinate system _F0 The mapping relationship between the coordinate system _F1 of the robot arm ₂₂ and the coordinate system _F2 of the guiding device 2 is obtained (as shown in FIG. 9 ).

Referring back to Figure 5, the step S3 specifically includes:

Step S31: Obtain the target position of the Nth joint of the robotic arm 22 to be adjusted according to the target pose of the robotic arm 22 to be aligned currently.

Step S32: Acquiring the current position of the Nth joint of the robotic arm 22 to be aligned.

Step S33: calculating the difference between the target position of the Nth joint and the current position;

Step S34: Determine whether the Nth joint is aligned according to the difference between the target position of the Nth joint and the current position, if not, execute step S35; if yes, execute step S36.

Step S35: Planning the target motion direction of the Nth joint according to the difference between the target position of the Nth joint and the current position, and prompting information about the target motion direction through a prompt unit, where N is a positive integer, so that The Nth joint moves according to the target movement direction.

Step S36: Generate first prompt information.

The robotic arm 22 may include a plurality of joints, as shown in Fig. 10 to Fig. 13 as an example, the robotic arm 22 includes six joints connected in sequence. In some embodiments, the mechanical arm 22 includes a mutual adjusting arm 221 and a tool arm 222 , and the adjusting arm 221 is connected to the operating platform 21 . The adjustment arm 221 includes four joints connected in sequence, namely the first joint 221a, the second joint 221b, the third joint 221c and the fourth joint 221d, and the tool arm 222 includes two joints, respectively the fifth joint 222a and the sixth joint 222b. Wherein, the first joint 221a, the third joint 221c, the fourth joint 221d, the fifth joint 222a and the sixth joint 222b are rotation joints, and the second joint 221b is a translation joint. In this way, the alignment operation of the mechanical arm 22 actually includes the alignment operation of the six joints, that is, the first joint 221a is rotated from the current position in the positive or negative direction by Δθ ₁ to reach the corresponding target position; make the second joint 221b translate L from the current position in the positive or negative direction to reach the corresponding target position; make the third joint 221c rotate Δθ ₂ in the positive or negative direction from the current position to reach the corresponding target position the target position; make the fourth joint 221d rotate Δθ ₃ from the current position in the positive or negative direction to reach the corresponding target position; make the fifth joint 222a rotate Δθ ₄ in the positive or negative direction from the current position to Reach the corresponding target position; make the sixth joint 222b rotate _Δθ5 from the current position in the positive or negative direction to reach the corresponding target position. Here, for the rotary joint, the positive direction is, for example, counterclockwise, and the negative direction is, for example, clockwise, and vice versa. For translational joints, the positive direction is, for example, a direction away from the guiding device 2 , and the negative direction is, for example, a direction approaching the guiding device 2 . It should also be noted that each joint should move within the allowable range during the corresponding movement to ensure safety.

Wherein, in the step S31, when the target pose of the robotic arm 22 is determined, according to the configuration of the robotic arm 22, each joint of the robotic arm 22 has a unique target position. Those skilled in the art may use any suitable method to obtain the target position of the Nth joint, for example, by using a robot inverse kinematics algorithm to solve the Nth joint of the mechanical arm 22 according to the target pose of the mechanical arm 22 target location.

In the step S32, the control unit can acquire the current pose of the robotic arm 22 according to the real-time image information of the robotic arm 22 collected by the positioning device 3, and according to the current pose of the robotic arm 22 The pose is calculated to calculate the current position of the Nth joint. Alternatively, the surgical robot system further includes a position acquisition device (not shown in the figure), and the number of the position acquisition devices is multiple, which are respectively arranged at each of the joints, and communicated with the control unit. That is to say, the control unit may directly acquire the current position of the Nth joint according to the position acquiring device disposed at the Nth joint. For a rotary joint, the position acquisition device is, for example, an angle encoder or other types of angle sensors; for a translational joint, the position acquisition device may be a distance sensor or the like.

In the step S34, as shown in FIG. 14 , if the difference between the target position of the Nth joint and the current position is within a predetermined range, it is determined that the Nth joint is aligned; if not, then It is determined that the Nth joint is misaligned. And, in the step S35, when the difference between the target position and the current position is a positive value, the moving direction of the target is a positive direction, and when the difference between the target position and the current position is When the value is negative, the target movement direction is the negative direction. For example, when the Nth joint is a rotary joint, the target position of the Nth joint is θ _goal , and the current position is θ ₀ , if θ _goal -θ ₀ is a positive value, then the Nth joint The target motion direction of the Nth joint is along the positive direction, on the contrary, when θ _goal −θ ₀ is a negative value, the target motion direction of the Nth joint is along the negative direction. When the Nth joint is a translational joint, and the Nth joint translates in the Y direction (as shown in FIG. 9 and FIG. 10 as an example), the target position of the Nth joint is N _goal (0, y _goal , 0 ), the current position is N ₀ (0, y ₀ , 0), the difference between the two can be directly expressed as y _goal -y ₀ , if y _goal -y ₀ is a positive value, then the Nth joint’s translational The target motion direction is a positive direction, and if y _goal -y ₀ is a negative value, the normal target motion direction of the Nth joint is a reverse direction. It can be understood that, during the alignment operation on the Nth joint, the control unit also repeatedly executes the step S32 and the step S35 until the alignment of the Nth joint is completed.

In some embodiments, the prompting unit is a sound prompting mechanism. In this way, in the step S35, the sound prompting mechanism is also used to prompt the target movement direction information, and the sound prompting mechanism is, for example, a voice broadcasting mechanism. In addition, the voice prompt mechanism also prompts the first prompt information.

When an alignment operation is performed on a selected robotic arm 22, it usually starts from the first joint 221a, and performs alignment operations on all joints sequentially according to the connection sequence. Therefore, after the alignment operation of the Nth joint is completed, the alignment method further includes step S37: determining whether all the joints of the robotic arm 22 to be aligned have been aligned, and if not, repeat the execution Step S31 to step S35, and modify N to N+1 when repeating step S31; if yes, execute step S4. The step S4 includes: generating second prompt information. Likewise, the second prompt information may be prompted by the voice prompt mechanism.

After the execution of the step S4, the alignment method further includes a step S5: judging whether all the alignment operations of the robotic arms 22 are completed, if not, returning to the execution of the step S0 and subsequent steps, In this embodiment, the control unit returns to execute the step S0 and the step S4; if yes, execute the step S6, and the step S6 includes: generating a third prompt message to prompt that all the mechanical arms 22 are completed alignment. The third prompt information may be prompted by the voice prompt mechanism.

In addition, in the step S0, the voice prompting mechanism can prompt the operator to confirm the mechanical arm 22 currently to be aligned, and in the step S31, the voice prompting mechanism can also prompt the operator to confirm The Nth joint currently to be aligned is confirmed.

Alternatively, the prompt unit may also have other options. For example, referring to FIG. 15 and FIG. 16 , in an optional embodiment, the prompt unit is a first light prompt mechanism. The first light reminder mechanism includes several indicator light groups 41, the number of the indicator light groups 41 is, for example, four, and they are respectively arranged on each of the mechanical arms 22, that is, one of the indicator light groups 41 is used. It is used to guide the alignment operation of one of the robotic arms 22 . Each said indicator light group 41 can comprise two indicator lights, be respectively a first indicator light 41a and a second indicator light 41b, and said first indicator light 41a and said second indicator light 41b all have flashing, always on. , and normally off, and the first indicator light 41a and the second indicator light 41b have two colors in the blinking state, that is, the first indicator light 41a and the second indicator light 41b Both may flash in a first color, or in a second color, and the first color is different from the second color.

As shown in FIG. 17 , in this embodiment, the alignment operation is guided through the light changes of the first indicator light 41 a and the second indicator light 41 b , specifically the state and color changes. For example, in the step S0, all the first indicator lights 41a and the second indicator lights 41b on all the mechanical arms 22 are flashing in the first color to prompt selection of all the current objects to be aligned. Described mechanical arm 22. In the step S31, both the first indicator light 41a and the second indicator light 41b flash in a second color to remind the operator to carry out the operation on the Nth joint of the robotic arm 22 currently to be aligned. confirm. In the step S35, when the planned target movement direction is positive, the first indicator light 41a is always on, and the second indicator light 41b is always off; when the planned target movement direction is negative direction, the first indicator light 41a is always off, and the second indicator light 41b is always on. When it is determined in step S34 that the Nth joint has been aligned, both the first indicator light 41 a and the second indicator light 41 b are off to prompt the first prompt information. In the step S36, if it is determined that all the joints of the robotic arm 22 to be aligned have been aligned, the first indicator light 41a and the second indicator light 41b remain in the normally off state, so as to Prompt the second prompt information; if it is determined that the joints of the robotic arm 22 to be aligned are not aligned, when the control unit returns to execute the step S31, the first indicator light 41a and the The second indicator light 41b blinks in the second color to prompt the operator to confirm the N+1th joint to be aligned currently. In the step S5, if it is determined that all the mechanical arms 22 have been aligned, then all the indicator lights 41 are always off to prompt the third prompt information. If a certain robotic arm 22 is misaligned, the indicator light group 41 on the misaligned robotic arm 22 will blink in the first color.

In another optional embodiment, as shown in Figure 18 and Figure 19, the prompt unit is a second light prompt mechanism, and the second light prompt mechanism includes four third indicator lights 41c, each of which The third indicator light 41c is disposed on one of the mechanical arms 22 , that is, one of the third indicator lights 41c is used to guide the alignment of one of the mechanical arms 22 .

Specifically, the third indicator light 41c has five states of blinking in a third color, blinking in a fourth color, always on in a fifth color, always on in a sixth color, and always off. The fourth color is different, and the fifth color and the sixth color are different. In the step S1, the third indicator lights 41c on all the robotic arms 22 blink in the third color to prompt the operator to select the robotic arm 22 to be aligned. In the step S31, the third indicator light 41c blinks in a fourth color to prompt confirmation of the Nth joint to be adjusted currently. In the step S35, if the planned target movement direction is a positive direction, the third indicator light 41c is always on with the fifth color; if the planned target movement direction is a negative direction, the The third indicator light 41c is always on with the sixth color. In the step S34, if it is determined that the Nth joint is aligned, the third indicator light 41c is always off to prompt the first prompt information. In the step S36, if it is determined that all joints of the robotic arm 22 to be aligned have been aligned, the third indicator light 41c remains in a constant off state to prompt the second prompt information; if When it is determined that the joints of the robotic arm 22 to be aligned still have misalignment, when the control unit returns to execute the step S31, the third indicator light 41c flashes in the fourth color to remind the operator Confirm the N+1th joint currently to be aligned. In the step S5, if it is determined that all the mechanical arms 22 are aligned, then all the third indicator lights 41c are always off to prompt the third prompt information. If a certain robotic arm 22 is misaligned, the third indicator light 41c on the misaligned robotic arm 22 will blink in the third color.

In yet another optional embodiment, as shown in FIG. 20 and FIG. 21, the prompt unit is a display screen 42, and the number of the display screens 42 is four, and are respectively arranged on the four mechanical arms 22. . Each of the display screens 42 is provided with indicating graphics, which include a first arrow 42a pointing in the positive direction, a second arrow 42b pointing in the negative direction, and a confirmation symbol 42c, the confirmation symbol 42c being, for example, is "√". The first arrow 42a and the second arrow 42b have states of always on and always off, the confirmation symbol 42c has states of blinking in the seventh color, blinking in the eighth color, always on and always off, the The seventh color is different from the eighth color.

The specific instruction method in this embodiment is: in the step S0, the confirmation symbols 42c on all the display screens 42 flash in the seventh color to prompt selection of the robot arm to be aligned 22. At the same time, the first arrow 42a and the second arrow 42b may be in a normally off state. In the step S31, the confirmation symbol 42c on the robotic arm 22 currently to be aligned flashes in the eighth color to prompt confirmation of the Nth joint currently to be aligned, while the The first arrow 42a and the second arrow 42b may be in a normally off state. In the step S34, if it is determined that the Nth joint is not aligned, then the confirmation symbol 42c is in a constant off state; if it is determined that the Nth joint is aligned, the confirmation symbol 42c is in a constant on state , and at the same time, the first arrow 42a and the second arrow 42b are always off, so as to prompt the first prompt information. In the step S35, if the planned moving direction of the target is positive, the first arrow 42a is always on, the second arrow 42b and the confirmation symbol 42c are always off, and if the planned If the moving direction of the target is a negative direction, the second arrow 42b is always on, and the first arrow 42a and the confirmation symbol 42c are always off. In the step S36, if it is determined that all the joints of the robotic arm 22 to be aligned have been aligned, the confirmation symbol 42c remains in a constant light state to prompt the second prompt information; if it is determined that the current When the joints of the mechanical arm 22 to be aligned are not aligned, when the control unit returns to execute the step S31, the confirmation symbol 42c flashes in the eighth color to remind the operator of the joints to be aligned. The N+1th joint is confirmed. In the step S5, if it is determined that all the mechanical arms 22 have been aligned, then all the confirmation symbols 42c are always on to prompt the third prompt information. If a certain mechanical arm 22 is misaligned, the confirmation symbol 42 on the misaligned mechanical arm 22 will blink in the seventh color.

The computer-readable storage medium provided by the embodiment of the present application is applied to the surgical robot system. When the manual alignment operation is performed on the robotic arm 22, the prompt unit prompts the target movement direction to guide the movement of the joint, and through the prompt The unit prompts whether the joints are aligned, and on the premise of improving the accuracy of the alignment operation, it also improves the alignment efficiency.

Further, the present application also provides an alignment method, and the alignment method is an alignment method executed by a program stored on the aforementioned computer-readable storage medium.

Further, the embodiment of the present application also provides an alignment system, the alignment system includes the aforementioned control unit and the aforementioned prompt unit, that is, the control unit is used to execute the aforementioned alignment method, the The prompting unit is connected in communication with the control unit, and is used for prompting the moving direction information of the target, the first prompting information, the second prompting information and the third prompting information. And, the alignment system preferably further includes the positioning device and the position acquisition device.

Further, the embodiment of the present application also provides a surgical robot system, the surgical robot system includes the surgical operation device 20 and the aforementioned alignment system, the operation device 20 includes the mechanical arm 22, the The end of the mechanical arm 22 is used for connecting the surgical instrument 3 . The alignment system is used to align the robotic arm 22 with the guide device 2 for providing surgical access for the surgical instrument 3 .

And, the embodiment of the present application also provides an electronic device, the electronic device includes a processor and the aforementioned computer-readable storage medium, the processor is configured to execute the Stored programs.

Although the present application discloses as above, it is not limited thereto. Those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (19)

1. a computer readable storage medium having stored thereon a program for performing an alignment method to align a robotic arm with a guide for providing surgical access for surgical instruments, when the program is executed, The mechanical arm includes several joints, and the alignment method includes:

   Step S1: Obtain the pose of the guiding device;

   Step S2: Plan the aligned target pose of the robotic arm according to the pose of the guiding device; and,

   Step S3: Obtain the current position of the joint, plan the target motion direction of at least one joint according to the current position of the joint and the target pose of the robot arm, and guide the corresponding joint to move in accordance with the target motion direction .
2. The computer-readable storage medium according to claim 1, wherein when the mechanical arm is in the target pose, the end of the mechanical arm faces the instrument hole of the guiding device, and is in contact with the The instrument holes are spaced a predetermined distance apart.
3. The computer-readable storage medium according to claim 1, wherein the step S2 includes: establishing a mapping relationship between the coordinate system of the mechanical arm and the coordinate system of the guiding device, and according to the mapping relationship and the pose planning of the guiding device to plan the target pose of the robotic arm.
4. The computer-readable storage medium according to claim 1, wherein the step S3 comprises:

   Step S31: Obtain the target position of the Nth joint of the robotic arm according to the target pose of the robotic arm;

   Step S32: acquiring the current position of the Nth joint;

   Step S33: calculating the difference between the target position of the Nth joint and the current position;

   Step S34: judging whether the Nth joint has been aligned according to the difference between the target position of the Nth joint and the current position, if not, execute step S35;

   Step S35: Planning the target movement direction of the Nth joint according to the difference between the target position of the Nth joint and the current position, and directing the Nth joint to move along the target movement direction to perform alignment operate;

   Wherein, N is a positive integer.
5. The computer-readable storage medium according to claim 4, wherein during the process of guiding the alignment of the Nth joint, the step S32 to the step S35 are repeatedly executed until the Nth joint is completed. alignment.
6. The computer-readable storage medium according to claim 1, wherein the step S3 further comprises: when it is determined that the Nth joint has moved to a target position corresponding to the joint, generating first prompt information.
7. The computer-readable storage medium according to claim 1, wherein when all joints of the robotic arm move to corresponding target positions, the alignment method further comprises the following step S4: generating second prompt information .
8. The computer-readable storage medium according to claim 7, wherein the alignment method is used to respectively align a plurality of the robotic arms with a plurality of the guiding devices that have been inserted into the target object; The alignment method also includes:

   Step S0: Select the robotic arm to be aligned; and,

   Step S5: judging whether all the alignment operations of the robotic arms are completed, if not, then at least repeatedly execute the step S0 to the step S4; if yes, execute the step S6;

   Step S6: generating third prompt information;

   Wherein, the step S0 is executed before the step S3, and the step S5 is executed after the step S4.
9. The computer-readable storage medium according to claim 1, wherein the alignment method further comprises: prompting the information of the moving direction of the target on a prompting unit.
10. The computer-readable storage medium according to claim 9, wherein the prompting unit prompts the target movement direction information by means of at least one of sound indication, light indication or graphic indication.
11. The computer-readable storage medium according to claim 1, wherein the target motion direction of the joint comprises a rotation direction or a translation direction of the joint.
12. An alignment method, wherein the alignment method is an alignment method executed by a program stored on a computer-readable storage medium according to any one of claims 1-11.
13. An alignment system, characterized by comprising a control unit and a prompting unit, the control unit is configured to execute the alignment method according to claim 12, the prompting unit is connected in communication with the control unit, and It is at least used for receiving and prompting the target movement direction information.
14. The alignment system according to claim 13, wherein the prompt unit includes at least one of a sound prompt mechanism, a light prompt mechanism, and a display screen.
15. The alignment system according to claim 13, characterized in that, the alignment system further comprises a positioning device, the positioning device is communicatively connected with the control unit, and is used for collecting the information of the mechanical arm and the guiding device. The control unit establishes a mapping relationship between the coordinate system of the robotic arm and the coordinate system of the guiding device according to the three-dimensional coordinate information of the robotic arm and the guiding device.
16. The alignment system according to claim 15, wherein the control unit also obtains the position information of the joint according to the three-dimensional coordinate information of the mechanical arm.
17. The alignment system according to claim 13, characterized in that, the alignment system further comprises several position acquisition devices, the position acquisition devices are used to acquire the position information of the joints; the control unit and the position A device communication connection is acquired and position information of the joint is received.
18. A surgical robot system, characterized in that it includes a surgical operation device and the alignment system according to any one of claims 13-17, the surgical operation device includes a mechanical arm, and the end of the mechanical arm is used to connect A surgical instrument, the alignment system for aligning the robotic arm with a guide for providing a surgical channel for the surgical instrument.
19. An electronic device, characterized in that the electronic device comprises a processor and the computer-readable storage medium according to any one of claims 1-11, the processor is configured to execute the computer-readable A program stored on a storage medium.

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