CN116549115A

CN116549115A - Surgical robot motion control system and method, surgical robot and surgical system

Info

Publication number: CN116549115A
Application number: CN202310591395.6A
Authority: CN
Inventors: 傅绍林; 杨明皓; 杨文强; 韩盈舟; 张江峰; 陈琳琦; 裴志刚
Original assignee: Kanghui Medical Innovation Co ltd
Current assignee: Kanghui Medical Innovation Co ltd
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-08-08

Abstract

The present invention relates to a motion control system for a surgical robot. The system comprises a mechanical arm (1), a tracer (2) mounted on the mechanical arm and comprising an optical marker (21), an optical sensing device (3) for acquiring pose information of the optical marker of the tracer, and a control device electrically connected with the mechanical arm, the tracer and the optical sensing device and configured to output control instructions according to a target pose of the mechanical arm movement so as to adjust the pose of the optical marker of the tracer to enable the optical marker to be located in a visual field of the optical sensing device. The motion control system avoids the optical mark being shielded when the mechanical arm moves, eliminates the limitation on the movement range of the mechanical arm, improves the identification precision of the tracer, and ensures that the movement of the mechanical arm is always controllable. The invention also relates to a motion control method of the motion control system of the surgical robot, a surgical robot and a surgical system.

Description

Surgical robot motion control system and method, surgical robot and surgical system

Technical Field

The present invention relates to the technical field of medical equipment, and more particularly, to a surgical robot system, and more particularly, to a motion control system and method of a surgical robot, a tracer, and a surgical system including the same.

Background

Surgical robots are increasingly being used in surgery to assist a physician in either fully automatically manipulating surgical instruments or performing surgical procedures on a patient's site to be treated.

Surgical robotic systems typically provide a tracer on the robotic arm of the robot and, as needed, on the surgical instrument and/or the patient to be treated. The system is also provided with sensing devices capable of sensing these tracers to track pose information of the robotic arm, surgical instrument and patient to be treated, to track and navigate the surgical procedure, and to control the robotic arm to perform desired movements or to perform pre-or intra-operative planned movement paths.

One way of tracking is to track a tracer comprising an easily identifiable optical marker in real time by an optical sensing device. The tracking and positioning of the operation mechanical arm currently has two modes of passive and active, namely, the adopted tracer is an active tracer or a passive tracer. The optical marker of the passive tracer is, for example, a passive reflecting ball, which is simple and reliable in structure, but has the risk of being easily blocked due to the movement of the mechanical arm and thus not being in the field of view of the optical sensing device. So that the passive tracer is not obstructed, the movable range of the mechanical arm is limited. The optical mark of the active tracer is an active luminous LED luminous element, and the mechanical structures of the passive tracer protruding out of the outer outline of the mechanical arm are not arranged on the active tracer, so that the limitation on the movement of the mechanical arm caused by the mechanical structures is avoided to a certain extent, however, the defects of large volume, large weight and the like of the circuit board and the LED luminous element which are required to be configured exist, the allowable weight of the end surgical tool which can be borne by the mechanical arm is compressed to a certain extent, and the large volume of the LED luminous element influences the visual range of doctors.

Disclosure of Invention

The present invention has been made to solve at least one of the above problems and disadvantages and other technical problems occurring in the prior art.

In one aspect, the present invention provides a motion control system for a surgical robot, the system comprising a robotic arm, a tracer mounted to the robotic arm and including an optical marker, an optical sensing device for acquiring pose information of the optical marker of the tracer, and a control device electrically connected to the robotic arm, the tracer, and the optical sensing device and configured to: and outputting a control instruction according to the target pose of the mechanical arm (namely the target position and the pose of the mechanical arm) so as to adjust the pose of the optical mark of the tracer and enable the optical mark to be positioned in the field of view of the optical sensing device.

In the motion control system, the control device automatically adjusts the pose of the optical mark of the tracer according to the target pose of the mechanical arm, so that the optical mark is ensured to be positioned in the visual field of the optical sensing device. Therefore, the risk that the optical mark of the tracer is blocked and cannot be captured by the optical sensing device due to the movement of the mechanical arm is avoided, and the limitation on the movement range of the mechanical arm is eliminated. And the pose of the tracer can be adjusted to the optimal pose according to the needs, so that the recognition accuracy of the tracer is improved. Further, due to the fact that the tracer is adjusted in real time, the tracer is guaranteed to be tracked effectively all the time, and therefore movement of the mechanical arm is guaranteed to be controllable all the time, mechanical arm positioning and operation navigation are enabled to be more accurate, and operation is enabled to be safer. This solution also increases the recognition range of the optical sensor device. And the adjustment of the tracer is automatically carried out without personnel operation, so that the operation flow is optimized, the operation efficiency is improved, and the burden of medical staff is reduced.

In the above-described motion control system, the pose of the optical marker is adjusted so that it preferably faces the optical sensing device. As will be appreciated by those skilled in the art, "facing" herein refers to capturing an optimal or superior image of the optical marker by the optical sensing device in this pose, to facilitate processing of the image and to make the acquired pose information more accurate.

According to one exemplary tracer configuration, the tracer includes a housing, a motor housed within the housing, a rotatable member rotatable relative to the housing and upon which the optical marker is disposed, and a controller disposed within the housing. The rotating member is coupled to an output shaft of the motor to rotate coaxially with the output shaft, and the controller is configured to drive the motor to act according to a control instruction received from the control device to adjust the pose of the optical mark.

In this exemplary configuration, by providing the rotating member that rotates coaxially with the motor output shaft and drives the optical mark to rotate, the pose of the optical mark can be adjusted 360 degrees, so that the optical mark faces the optical sensing device, preferably faces the optical sensing device, as required, to achieve a better tracking effect and motion control accuracy for the mechanical arm.

According to one exemplary configuration, the housing includes an outer housing and an inner housing, wherein the motor is fixed in the inner housing, and the rotating member is configured as a cylindrical member whose outer peripheral portion is aligned with the outer peripheral portion of the outer housing in the radial direction. This configuration facilitates the installation of the motor and the like and makes the tracer compact.

According to one exemplary configuration, the tracer further comprises a connection piece which is connected on the one hand to the output shaft of the motor and on the other hand to the barrel and is rotatably supported on the inner housing by means of a bearing. The structure realizes the rigid connection of the tracer and the motor, and realizes the rotary driving of the motor to the cylindrical part and the optical mark on the cylindrical part by a reliable connection structure, so that the positioning of the mechanical arm is more accurate.

According to one exemplary configuration, the cylindrical member further includes a bottom portion provided transversely to the outer peripheral portion and a flange protruding from the bottom portion toward the connecting member, wherein the connecting member is connected to the bottom portion, and an inner peripheral surface of the flange is fitted with an outer peripheral surface of the connecting member. By this structure, the cylindrical member is reliably connected to the connecting member.

According to one exemplary configuration, the tracer further includes an encoder coupled to the motor, the encoder being electrically coupled to the control apparatus to feed back positional information of the motor.

In this configuration, by providing an encoder of the motor to feed back the actual movement position of the motor, closed-loop control of the rotational movement of the tracer can be achieved, and precise adjustment control of the tracer can be achieved. Further, since the actual position and posture of the tracer with respect to the robot arm after rotation can be accurately known from the encoder. The method can be combined with the pose information of the tracer after rotation, which is obtained by the optical sensing device, so as to more accurately determine the actual pose of the mechanical arm after movement, facilitate the determination of whether further position adjustment is needed for the mechanical arm, more accurately realize closed-loop control of the movement of the mechanical arm and improve the movement precision of the mechanical arm.

According to one exemplary configuration, the tracer further comprises a sleeve securing the encoder therein, the sleeve being secured to one end of the motor coaxially with the motor. The encoder fixing sleeve is favorable for guaranteeing coaxiality of the encoder and the motor rotating shaft, and finally guaranteeing accuracy of the encoder in reading motor parameters.

According to one exemplary configuration, the housing includes a handle adapted for gripping and the handle is provided with a first mechanical interface adapted for connection to an implement.

The structure integrates the dragging function of the mechanical arm on the tracer, and is convenient for medical staff to drag the mechanical arm. For example, by rapidly moving it into the surgical field and/or into a field of view recognizable by the optical sensing device. The handle provides a stable and reliable supporting point for an operator, reduces the difficulty of operating the mechanical arm and improves the operation efficiency. The structure is integrated with a mounting interface of an executing tool such as a surgical instrument, namely a first mechanical interface, so that the structure of the mechanical arm is simplified, and the position of the surgical instrument is conveniently tracked.

According to one exemplary configuration, the tracer further includes an indicator light disposed on the housing to indicate an operational status of the robot. The structure integrates the indicator lamp on the tracer, is convenient for medical staff to pay attention to the working state of the robot, such as the motion state of the mechanical arm, whether the mechanical arm works normally, the communication condition between the robot trolley and the host machine and the like, and the integrated design simplifies the structure of the whole mechanical arm.

According to one exemplary configuration, the indicator lamp is configured in a ring shape, the indicator lamp being disposed between the outer housing and the cylindrical member and aligned with an outer peripheral portion of the cylindrical member and an outer peripheral portion of the outer housing in a radial direction.

In this structure, design the pilot lamp into annular to its position of setting makes the compact structure of tracer, and the pilot lamp does not outstanding setting, avoids the interference with the foreign object.

According to one exemplary configuration, the inner housing includes a main body portion having an opening in which the motor is received. This configuration facilitates the installation of the stationary motor and miniaturizes the structure of the tracer.

According to one exemplary configuration, the inner housing further includes a connection portion extending transversely to the main body portion, the connection portion being configured to be connected to one end of the outer housing, and the connection portion having a second mechanical interface formed thereon that is connected to the robotic arm.

According to one exemplary configuration, the second mechanical interface is configured to coaxially and rigidly connect the tracer to the robotic arm.

By this construction, the mechanical arm and the tracer are rigidly connected, and the positioning accuracy between the mechanical arm and the tracer is better ensured.

According to one exemplary configuration, the tracer is provided with an electrical interface adapted to electrically connect with the robotic arm for transmitting information. Through above-mentioned second mechanical interface and electrical interface, the tracer can conveniently be connected to the arm on, and control to the tracer can be carried out through the electric cabinet of arm.

According to one exemplary configuration, the optical marker is a passive marker. The passive mark is selected, so that the tracer adopts a circuit board and an LED luminous element which are required to be equipped with the active mark, the weight of the tracer is reduced, the allowable load of the mechanical arm is increased, the weight range of the surgical tool which can be borne by the mechanical arm is enlarged, the tracer has a smaller volume, and the visual range of a doctor is not influenced. As described above, the pose of the optical marker can be adjusted according to the pose of the mechanical arm, and the optical marker can be always in the visual field of the optical sensing device without being blocked, so that the tracer has the advantages of an active tracer, and the defects of large weight, large volume and the like of the active tracer are avoided, which is equivalent to the advantages of combining the active tracer and the passive tracer.

According to another aspect of the present invention, there is also provided a surgical robot including a tracer including a housing, a motor housed within the housing, a rotatable member rotatable relative to the housing and on which the optical marker is disposed, and a controller disposed in the housing. The rotating member is coupled to an output shaft of the motor to rotate coaxially with the output shaft, and the controller is configured to drive the motor to act according to the received control instruction to adjust the pose of the optical mark.

The tracer in the scheme can be used as an independent device to be mounted on a mechanical arm or other tracked components, and the pose of the optical mark can be adjusted according to the received control instruction. Moreover, through setting up the rotation piece that rotates and drive optical mark pivoted with motor output shaft axiality, can 360 degrees adjustment optical mark's position appearance, satisfy the position appearance adjustment demand of tracer better.

Further, the tracer may have the structure of the tracer described in each of the above exemplary configurations.

According to still another aspect of the present invention, there is also provided a motion control method of a surgical robot motion control system including a robot, a tracer mounted to the robot and including an optical marker, and an optical sensing device for acquiring pose information of the optical marker of the tracer, wherein the method includes the steps of:

controlling the movement of the mechanical arm according to the target pose of the movement of the mechanical arm;

determining a target pose of the tracer according to the target pose of the robotic arm, wherein the target pose is set such that the optical marker of the tracer is located in the field of view of the optical sensing device;

and controlling the tracer to move towards the target pose according to the target pose of the tracer.

In the motion control method, the control device automatically adjusts the pose of the optical mark of the tracer according to the target pose of the mechanical arm, so that the tracer is always positioned in the field of view of the optical sensing device, the risk that the optical mark of the tracer is blocked and cannot be captured by the optical sensing device due to the motion of the mechanical arm is avoided, and the limitation on the motion range of the mechanical arm is eliminated. The motion of the mechanical arm is always controllable, so that the mechanical arm positioning and the operation navigation are more accurate, and the operation is safer.

According to one example, the motion control method of the surgical robotic arm motion control system further comprises resolving a current pose of the robotic arm from current pose information of the optical marker acquired by the optical sensing device after the tracer moves towards its target pose; and judging whether the current pose of the mechanical arm accords with the target pose of the mechanical arm, and continuously controlling the mechanical arm to move towards the target pose of the mechanical arm under the condition that the current pose of the mechanical arm does not accord with the target pose of the mechanical arm.

By the motion control method in the example, closed-loop control is realized on the motion of the mechanical arm, the motion control precision of the mechanical arm is improved, and the accuracy and the operation effect of the operation are ensured.

According to one example, the step of resolving the current pose of the mechanical arm is performed by combining current pose information of the optical marker acquired by an optical sensing device with position information of a motor fed back by the encoder. Due to the combination of the two, the current pose of the mechanical arm can be more accurately determined, and the motion control precision of the mechanical arm is improved.

According to yet another aspect of the present invention, there is also provided a motion control system for a surgical robot comprising a robot arm, a tracer mounted to the robot arm and comprising an optical marker, and an optical sensing device for acquiring pose information of the optical marker of the tracer, the motion control system further comprising a control device electrically connected to the robot arm, the tracer and the optical sensing device, and wherein the controller comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the motion control method described in the above schemes when executing the computer program.

According to yet another aspect of the present invention, there is also provided a surgical system comprising a motion control system as defined in any one of the above exemplary configurations.

Drawings

The invention is described in detail below via exemplary embodiments with reference to the accompanying drawings.

Fig. 1 shows a schematic view of a surgical system in a simplified schematic manner.

Fig. 2 shows a schematic perspective view of a tracer according to an exemplary embodiment of the invention.

Fig. 3 shows a schematic cross-sectional view of the tracer.

Fig. 4 shows an exploded perspective view of the tracer according to fig. 1.

Fig. 5 shows a schematic perspective cross-sectional view of the housing of the tracer.

Fig. 6 shows a schematic view after the sterile bag has been applied to the outside of the tracer.

Fig. 7 illustrates a flow chart of a method of motion control of an exemplary surgical robotic motion control system.

It should be noted that the figures are merely schematic and are not necessarily drawn to scale. They show only those parts which are necessary for elucidation of the invention, while other parts may be omitted or merely mentioned briefly. The invention may include other components in addition to those shown in the drawings.

Detailed Description

The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings. The following description of embodiments of the present invention with reference to the accompanying drawings is intended to illustrate the general inventive concept and should not be taken as limiting the invention.

In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It may be evident, however, that one or more embodiments may be practiced without these specific details.

As shown in fig. 1, a robotic surgical system commonly used in an operating room generally includes a computer 4, a surgical robot arm 1 provided on a robot trolley, a tracer 2 provided on the robot arm, an optical sensing device 3 (e.g., NDI navigation device/navigator) used in cooperation with the tracer 2, and other medical devices such as a tracer provided at a treatment site of a patient as needed. The computer has a display, a central processing unit and/or other processors, memory, etc. The optical sensing means 3 is not limited to NDI navigator, but may comprise at least one optical sensor of any kind, such as a CCD. The tracer 2 is provided with an optical marking which can be recognized by the optical sensor 3. The mechanical arm 1 is typically provided with a surgical tool and is moved to the site to be treated of the patient and operated accordingly under the control of the computer 4. In order to track the movement position of the robot arm 1 to feed back and/or control the position of the robot arm 1, it is required that the optical mark on the tracer 2 is located in the field of view of the optical sensing device in order for the optical sensing device 3 to acquire the position information of the tracer 2.

According to an exemplary embodiment of the present invention, a tracer 2 is provided, which tracer 2 is capable of acting in accordance with received control instructions to adjust the pose of its optical marker. Specifically, the tracer 2 includes a housing 25, a motor 22 accommodated in the housing 25, a rotating member 24 rotatable relative to the housing 25, an optical marker 21 provided on the rotating member, and a controller 29 provided in the housing 25, wherein the rotating member 24 is coupled to an output shaft of the motor 22 to rotate coaxially with the output shaft, and the controller 29 is configured to drive the motor 22 to act according to a received control instruction to adjust the pose of the optical marker 21.

The tracer can be mounted as a stand-alone device on the robotic arm 1 of the surgical robot or on other tracked components and can adjust the pose of the optical marker as required according to the received control instructions. Moreover, through setting up the rotation piece that rotates and drive optical mark pivoted with motor output shaft axiality, can 360 degrees adjustment optical mark's position appearance, satisfy the position appearance adjustment demand of tracer better.

Illustratively, the tracer is mounted on the robotic arm 1 of the surgical robot, whereby the invention also provides a motion control system for the robotic arm 1 of the surgical system. The system comprises at least a robot arm 1, a tracer 2 mounted on the robot arm 1 and comprising an optical marker 21, an optical sensing device 3 for acquiring pose information of the optical marker of the tracer 2, and a control device. The control device is electrically connected to the mechanical arm 1, the tracer 2 and the optical sensing device 3, respectively, and is configured to adjust the pose of the tracer 2 according to the movement position of the mechanical arm 1, so as to ensure that the optical mark 21 of the tracer 2 is always located in the field of view of the optical sensing device, in particular to make the optical mark 21 face the optical sensing device 3, or in a desired pose which facilitates the capturing and recognition by the optical sensing device 3.

The control device is preferably a computer, such as the computer 4 in fig. 1, or may be a control box or other control device disposed in the moving rack of the mechanical arm, which is not limited in this aspect of the invention.

Fig. 2-6 show an exemplary specific construction of the tracer, which basically comprises a housing 25, a barrel 24 rotatable relative to the housing, an optical marker 21 mounted on the barrel 24, a motor 22 mounted in the housing, an encoder 23 connected to the motor 22, a sleeve 27 for fixing the encoder 23, and a controller 29 of the motor. The barrel 24 is coupled to the output shaft of the motor 22 for rotation coaxially therewith.

As shown in fig. 3 and 4, the housing 25 includes an outer housing 251 and an inner housing 252 that are fixed together. The outer case 251 is configured in a sleeve shape. The inner housing 252 includes a connecting portion 2522 having an end portion and a columnar body portion having an opening 2521. As shown in fig. 3, the outer case is connected at one end (left end in fig. 3) thereof to a connection portion 2522 of the inner case 252 by a screw fastener, thereby fixing the inner case 252 and the outer case 251. As shown in fig. 3 and 4, the motor controller 29 is inserted into the opening 2521 of the inner housing and fixed to the connection portion 2522 of the inner housing 252. The motor, encoder and encoder fixing sleeve 27 are disposed in the opening 2521 of the inner housing 252. The motor 22 is fixedly attached at its end (right end in fig. 3) to an end wall 2523 of the inner housing 252. Wherein the encoder 23 is fixed in a sleeve 27, the sleeve 27 being fixed at the end of the motor 22 remote from the motor output shaft. The encoder 23 and the sleeve 27 for fixing the encoder can be fixedly connected by adopting screws so as to ensure the coaxiality of the encoder 23 and the sleeve 27, further ensure the coaxiality of the encoder 23 and the motor output shaft and finally ensure the accuracy of the encoder for reading the motor parameters.

A connector 26 is provided at one end of the output shaft of the motor 22. The coupling member 26 is connected to the output shaft of the motor 22 on the one hand and the cylindrical member 24 on the other hand, and is rotatably supported on the inner housing 252 by the bearing 20. Specifically, as shown in fig. 3 and 4, the bearing outer ring of the bearing 20 is interference-fitted with an annular flange 2524 extending from an end portion 2523 of the inner housing 252, and an inner end surface (left end surface of the bearing outer ring in fig. 3) of the bearing outer ring is fixed by a boss (visible in fig. 3) formed on the annular flange 2524, and a bearing press ring 2525 is provided to fix the outer ring of the bearing to be fixed opposite to the inner housing 252. As shown in fig. 4, the connecting piece 26 is in interference fit with the inner ring of the bearing 20, and the inner end surface of the inner ring of the bearing is fixed by an inner boss on the connecting piece 26. The cylindrical member 24 includes an outer peripheral portion 241, a bottom portion 242 provided transversely to the outer peripheral portion 241, and a flange 243 protruding from the bottom portion 242 toward the connecting member 26, wherein the connecting member 26 is connected to the bottom portion 242, for example, by a threaded fastener, and an inner peripheral surface of the flange 243 is fitted with an outer peripheral surface of the connecting member 26 (see fig. 3) to ensure coaxiality of the cylindrical member 24 and the connecting member 26. And meanwhile, the inner end surface of the cylindrical piece 24 is pressed against the outer end surface of the bearing inner ring by the axial force connected by the threaded fastener, so that the bearing inner ring is finally fixed relatively to the connecting piece 26 and the cylindrical piece 24. Accordingly, when the output shaft of the motor 22 rotates, the coupling member 26 and the cylindrical member 24 are rotated, and the optical mark 21 mounted on the outer peripheral portion 241 of the cylindrical member 24 is rotated.

For the above optical markers, they may be active optical markers, such as LEDs capable of emitting light. Preferably, it can also be a passive optical marker, such as a reflective sphere that can reflect light. The optical sensing means 3 are able to sense the light emitted by the active marks or the light reflected by the passive marks.

Shown in fig. 2-6 is a passive marker ball as a passive optical marker. The passive marker ball is snap-fit connected to the mounting post 211 to ensure that the passive marker ball is quickly and fixedly mounted on the mounting post 211. As shown in fig. 2-6, the mounting post 211 is provided on a bracket 212, and the bracket 212 is removably coupled to the barrel 24 using a standard threaded connection.

As shown in fig. 2-5, a handle 253 adapted for gripping is formed on the outer housing 251, and the handle 253 is provided with a first mechanical interface 254 adapted for connection to an implement, such as various surgical instruments.

At one end of the tracer 2, as shown in fig. 2 and 3, a second mechanical interface 2526 for connecting the tracer to the robot arm 1 is formed on the connection 2522 of the inner housing 252. Preferably, the tracer is coaxially and rigidly connected to the robotic arm 1. Illustratively, the inner housing 252 and the mechanical arm 1 may be in a shaft hole fit manner, and are connected by screws, for example, to ensure good coaxiality and rigidity of the two. The tracer may be provided with an electrical interface adapted to be electrically connected to said robotic arm 1 for transmitting information, control instructions of the computer being transferred via the control box 11 of the robotic arm and the electrical interface to the controller 29 of the tracer 2. The electrical interface is also preferably formed on connection 2522 of inner housing 252. The tracer 1 may also be directly electrically connected to a computer.

It will be appreciated by those skilled in the art that although the construction in which the housing 25 of the tracer includes the outer housing 251 and the inner housing 252 is described herein, and the connection 2522 is formed on the end of the inner housing 252, the housing construction of the present invention is not limited thereto. Also, although the coupling structure from the motor 22 to the optical flag 21 is described as a specific embodiment, it should be understood by those skilled in the art that the coupling structure used as the motor 22 to drive the optical flag 21 is not limited to the structure described in this specific embodiment.

As shown in fig. 2-6, an indicator light 28 for indicating the working state of the robot can be integrated on the tracer, so that the medical staff can pay attention to the working states of the robot and the mechanical arm at any time, and the integrated design simplifies the structure of the whole mechanical arm. The indicator lamp 28 indicates, for example, a state in which the robot arm is automatically moved or manually dragged, a state in which the robot arm is stationary, a failure of the robot arm, a communication state between a control box in the robot carriage and a computer, and the like, in various light colors, flashing modes, and the like.

In the particular embodiment shown in the figures, the indicator light 28 is configured in a ring shape, disposed between the outer housing 251 and the cylindrical member 24, and aligned in the radial direction with the outer peripheral portion 241 of the cylindrical member 24 and the outer peripheral portion of the outer housing 251. The setting position enables the structure of the tracer to be compact, the indicator light is not arranged in a protruding mode, and interference with foreign objects is avoided.

After the implement is mounted to the first mechanical interface 254 of the handle 253 of the robotic arm, the sterile disposable plastic bag 255 will be unfolded and wrapped around the robotic arm (as shown in fig. 6) to prevent it from being contaminated during the procedure and from affecting the sterile environment of the procedure. As shown in fig. 6, the bracket 212 is mounted on the cylindrical member 24 by screws, after the positioning alignment, the plastic bag is pierced by the screws, so that the bracket 212 is connected with the cylindrical member 24, and a rubber sealing ring can be used between the bracket and the cylindrical member to ensure tightness. The plastic bag has a certain length redundancy to ensure the rotation of the barrel 24. The passive marking ball and the supporting structure thereof are connected with the tubular piece simply and conveniently, and can be matched with a disposable plastic bag to be installed on the tubular piece, so that the time for preoperative preparation/postoperative cleaning is reduced, and the operation efficiency is improved.

The invention also provides a motion control method of the surgical mechanical arm motion control system, which comprises the following steps:

determining or acquiring a target pose of the mechanical arm 1;

controlling the mechanical arm 1 to move according to the target pose of the mechanical arm 1;

determining a target pose of the tracer 2 from a target pose of the robotic arm 1, wherein the target pose of the tracer 2 is set such that the optical marker is in a field of view of an optical sensing device;

and controlling the tracer 2 to move towards the target pose according to the target pose of the tracer 2.

In the motion control method, after the mechanical arm moves towards the target pose, the control device automatically adjusts the pose of the optical mark of the tracer in real time according to the target pose of the mechanical arm, so that the optical mark is always positioned in the field of view of the optical sensing device, the motion of the mechanical arm is always controllable, the mechanical arm positioning and the surgical navigation are enabled to be more accurate, and the operation is safer and the surgical effect is better ensured.

The movement of the robot arm 1 may be continuously automated, for example according to a planned path of surgery, pre-or intra-operative, or may be under stepwise control, for example by an operator entering a target pose at a computer to which the robot arm 1 is desired to be moved via the keyboard 41. The target pose of the robot arm 1 may be calculated by the control device, or information obtained from other devices, or an obtained input value or calculated according to an input of an operator.

As an exemplary specific motion control method, it has the steps of: 1. inputting a target pose of the mechanical arm 1 into a computer; 2. calculating a motion path and a target pose of the mechanical arm 1 by a computer, and controlling the mechanical arm 1 to move towards the target pose; 3. the computer calculates the angle required by the corresponding motor 22 to rotate when the tracer 2 wants to be more easily captured by the camera of the optical sensing device under the target pose of the mechanical arm; 4. the driving motor 22 rotates, and the encoder 23 measures the rotation angle thereof; 5. the computer judges whether the tracer 2 reaches the target pose of the tracer according to the measurement result of the encoder 23, if not, the tracer continues to rotate, and if so, the measurement result of the encoder 23 and the pose of the tracer 2 currently captured by the camera are combined, and the current real pose of the mechanical arm 1 is solved; 6. comparing the current real pose of the mechanical arm with the target pose, if the mechanical arm 1 does not reach the target pose, moving again, and if the current real pose of the mechanical arm does not reach the target pose, ending the moving.

It should be noted that the steps of the motion control method for the robot arm described herein and the steps shown in fig. 7 are merely for describing a particular motion control method, and do not represent that the motion control method of the present invention must have some or some of these steps.

The present invention also provides a surgical system comprising the motion control system of the surgical robot described herein, and may comprise other devices or systems according to actual needs, such as additional monitoring devices in addition to the optical sensing means 3, a surgical planning system, a coordinate system registration system, etc. The surgical system may operate on any type of instrument, implant, etc., and may be used in any suitable procedure.

The steps of the above method may be implemented by computer program instructions stored in the control device. Although the control device is described herein by way of example with respect to the computer 4, the control device usable with the present invention is not limited thereto and may be any apparatus including a memory, a processor, and a computer program stored on the memory and executable on the processor.

Although a few embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

Claims

1. A motion control system for a surgical robot, the system comprising:

a mechanical arm (1);

-a tracer (2) mounted to the robotic arm (1), the tracer (2) comprising an optical marker (21);

an optical sensing device (3) for acquiring pose information of an optical marker of the tracer (2); and

control means electrically connected to the robotic arm (1), the tracer (2) and the optical sensing means (3), respectively, wherein the control means is configured to: and controlling and adjusting the pose of the optical mark of the tracer (2) according to the target pose of the movement of the mechanical arm so that the optical mark is positioned in the visual field of the optical sensing device (3).

2. A motion control system according to claim 1, characterized in that the tracer (2) comprises:

a housing (25);

a motor (22) accommodated in the housing (25);

a rotating member rotatable with respect to the housing, wherein the optical mark (21) is provided on the rotating member, and the rotating member is coupled to an output shaft of the motor (22) to rotate coaxially with the output shaft; and

a controller (29) disposed in the housing (25) and configured to drive the motor (22) to act according to a control instruction received from the control device to adjust the pose of the optical marker (21).

3. The motion control system of claim 2, wherein the housing (25) comprises an outer housing (251) and an inner housing (252), wherein the motor (22) is fixed in the inner housing (252) and the rotating member is configured as a cylindrical member (24), an outer peripheral portion (241) of the cylindrical member (24) being aligned with an outer peripheral portion of the outer housing (251) in a radial direction.

4. The motion control system of claim 3, wherein,

the tracer (2) further comprises a connection (26), which connection (26) is connected on the one hand to the output shaft of the motor (22) and on the other hand to the cylinder (24) and is rotatably supported on the inner housing (252) by means of bearings.

5. The motion control system of claim 4, wherein the barrel (24) further comprises a bottom (242) disposed transverse to the peripheral portion (241) and a flange (243) protruding from the bottom (242) toward the link (26), wherein the link (26) is connected to the bottom (242) and an inner peripheral surface of the flange (243) mates with an outer peripheral surface of the link (26).

6. A motion control system according to any of claims 2-5, characterized in that the tracer (2) further comprises an encoder (23) connected to the motor (22), the encoder (23) being electrically connected to the control means for feeding back position information of the motor relative to the robotic arm.

7. The motion control system according to claim 6, wherein the control device is configured to determine the current pose of the robotic arm (1) in combination with current pose information of the optical marker acquired by the optical sensing device (3) and position information fed back by the encoder (23).

8. A motion control system according to claim 6, characterized in that the tracer further comprises a sleeve (27) for securing the encoder (23) therein, the sleeve (27) being secured to one end of the motor (22) coaxially with the motor (22).

9. The motion control system according to any one of claims 2-5, 7 and 8, characterized in that the housing (25) comprises a handle (253) adapted to be gripped and that the handle (253) is provided with a first mechanical interface (254) adapted to be connected to an implement.

10. The motion control system according to any one of claims 3-5, wherein the tracer further comprises an indicator light (28) provided on the outer housing (251) to indicate the working state of the robot.

11. The motion control system of claim 10, wherein the indicator light (28) is configured in a ring shape and disposed between the outer housing (251) and the cylindrical member (24) and aligned with an outer peripheral portion (241) of the cylindrical member (24) and an outer peripheral portion of the outer housing (251) in a radial direction.

12. The motion control system of any of claims 3-5, wherein the inner housing (252) includes a body portion having an opening (2521), the motor being received in the opening (2521).

13. The motion control system of claim 12, wherein the inner housing (252) further comprises a connection portion (2522) extending transversely to the main body portion, the connection portion (2522) being configured to be connected to one end of the outer housing (251), and the connection portion (2522) having a second mechanical interface (2526) formed thereon for connection to the robotic arm (1).

14. The motion control system according to claim 13, characterized in that the second mechanical interface is configured to coaxially and rigidly connect the tracer (2) to the robotic arm (1).

15. A motion control system according to any of claims 1-5, 7-8, 13-14, characterized in that the tracer is provided with an electrical interface adapted to be electrically connected with the robotic arm (1) for transmitting information.

16. The motion control system according to any of claims 1-5, 7-8, 13-14, characterized in that the optical marker (21) is a passive marker.

17. The motion control system of any one of claims 1-5, 7-8, and 13-14, wherein the control device is configured to: and adjusting the pose of the tracer (2) according to the pose of the mechanical arm (1) so that the optical mark faces the optical sensing device (3).

18. Surgical robot comprising a robotic arm and a tracer adapted to be mounted to the robotic arm, characterized in that the tracer (2) comprises:

a housing (25);

a motor (22) accommodated in the housing (25);

a rotating member (24) rotatable relative to the housing (25), wherein the rotating member (24) is coupled to an output shaft of the motor (22) to rotate coaxially with the output shaft;

an optical marker (21) provided on the rotating member; and

a controller (29) disposed in the housing (25) and configured to drive the motor (22) to act according to the received control instruction to adjust the pose of the optical marker (21).

19. A surgical robot as claimed in claim 18, wherein the tracer is a tracer as defined in any one of claims 2 to 16.

20. A motion control method of a surgical robot motion control system, characterized in that the surgical robot motion control system comprises a robotic arm (1), a tracer (2) mounted to the robotic arm (1) and comprising an optical marker (21), and an optical sensing device (3) for acquiring pose information of the optical marker, wherein the method comprises the steps of:

controlling the mechanical arm (1) to move according to the target pose of the mechanical arm (1);

determining a target pose of the tracer (2) from a target pose of the robotic arm (1), wherein the target pose of the tracer (2) is arranged such that the optical marker is located in a field of view of an optical sensing device;

and controlling the tracer (2) to move towards the target pose according to the target pose of the tracer (2).

21. The method of motion control according to claim 20, further comprising the steps of: after the tracer moves towards its target pose:

according to the current pose information of the optical mark acquired by the optical sensing device (3), the current pose of the mechanical arm (1) is calculated;

judging whether the current pose of the mechanical arm (1) accords with the target pose of the mechanical arm (1), and continuously controlling the mechanical arm (1) to move towards the target pose under the condition that the current pose of the mechanical arm does not accord with the target pose.

22. A motion control method according to claim 21, characterized in that the tracer (2) comprises a motor (22) coupled to the optical marker (21) and an encoder (23) connected to the motor (22), wherein the step of controlling the movement of the tracer (2) towards its target pose comprises controlling the motor (22) to operate to adjust the pose of the optical marker (21), and the step of resolving the current pose of the robotic arm (1) is performed in combination with current pose information of the optical marker acquired by an optical sensing device (3) and position information of the motor fed back by the encoder (23).

23. A control device for a motion control system of a surgical robot, characterized in that the control device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to perform the motion control method of any of claims 20-22.

24. A surgical system, characterized in that it comprises a motion control system of a surgical robot according to any one of claims 1-17 or a robot according to claim 18 or 19.