CN118217018A

CN118217018A - Motion prompting method and device of surgical robot and surgical robot

Info

Publication number: CN118217018A
Application number: CN202410252724.9A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Filing date: 2024-03-06
Publication date: 2024-06-21

Abstract

The application provides a motion prompting method and a motion prompting device of a surgical robot and the surgical robot, wherein the surgical robot comprises a master control arm and a surgical arm, the master control arm is provided with a first joint group, and the surgical arm is provided with a second joint group; the motion prompting method comprises the following steps: driving the first joint group to move based on the operation of an operator so as to send out a first control instruction; acquiring a joint instruction position of the second joint group, which generates following motion based on the first control instruction; outputting a boundary prompt moment to the first joint group under the condition that the joint instruction position is in a preset position range so as to provide force feedback for an operator to prompt that the target movement position of the second joint group is approaching to the physical limit position of the second joint group; wherein the direction of the boundary-prompting moment is opposite to the current movement direction of the first joint group. The motion prompting method is convenient for operators to know the joint position of the operation arm in time, avoids the conditions of abrupt stop and blocking of the operation arm in the operation process, and improves the operation fluency.

Description

Motion prompting method and device of surgical robot and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a motion prompting method and device of a surgical robot and the surgical robot.

Background

Surgical robots typically include a master control system and a slave control system; the main control system comprises a doctor trolley and a main control arm, and the auxiliary control system comprises a patient trolley and an auxiliary control arm. The slave control arm comprises two invisible components, namely an adjusting arm and a surgical arm, wherein the adjusting arm is mainly used for adjusting the spatial position of the slave control arm before the operation starts, and the surgical arm is mainly used for executing operation in cooperation with surgical instruments. Generally, in a surgical robot system, the structure of a master control arm needs to be adapted to the hand operation of a doctor, and the structure of a surgical arm needs to be adapted to the surgical operation in a patient, so that the structure of the master control arm and the structure of the surgical arm are master-slave heterogeneous. When a doctor operates the surgical arm through the main control arm, the control flow comprises the following steps: the method comprises the steps that firstly, a master control system collects joint positions of a master control arm, calculates the space positions and the speeds of the master control arm relative to an eyepiece of a doctor trolley, and sends the space positions and the speeds of the master control arm relative to the eyepiece to a slave control system; secondly, after receiving the position and speed information of the main control arm from the control system, solving the kinematic inverse solution of the operation arm to obtain the position and speed of each joint of the operation arm; and thirdly, transmitting the joint position and the joint speed obtained by inverse solution to each joint controller corresponding to the operation arm, and driving each joint to move to a designated position. However, because the structure of the master control arm is different from that of the operation arm, the position of the master control arm and the position of the operation arm in master-slave control cannot be in one-to-one correspondence, so that the instruction position of the operation arm may exceed the limit position of a joint in the operation process of the master control arm, and the master-slave pose cannot be matched.

In the related art, a safe operation boundary is generally set for the surgical robot, for example, the movement range boundary of the surgical robot is set by mechanical limitation of each joint of the surgical robot, and when the surgical arm reaches the limit position, the movement of the main control arm is limited.

However, when the surgical arm reaches the boundary of the movement range, the master-slave operation is stopped suddenly, which causes the condition of jamming in the surgical process and is unfavorable for smooth operation of the surgery.

Disclosure of Invention

The embodiment of the application provides a motion prompting method and device for a surgical robot, the surgical robot and a computer readable storage medium, wherein when the joint motion of a surgical arm is close to the boundary of a motion range, a boundary prompting moment is provided for an operator through a joint controller of a master control arm, so that the operator is prompted that the joint of the surgical arm is currently approaching to a physical limit position, the operator can know the joint position of the surgical arm in time, and the operation on the master control arm is gradually adjusted, so that the condition of clamping in the surgical process is avoided, and the smoothness of the operation is improved.

According to a first aspect of an embodiment of the present application, there is provided a motion prompting method of a surgical robot including a master control arm having a first joint group and a surgical arm having a second joint group; the method comprises the following steps:

driving the first joint group to move based on the operation of an operator so as to send out a first control instruction;

Acquiring a joint instruction position of the second joint group, which generates following motion based on the first control instruction;

outputting a boundary prompt moment to the first joint group under the condition that the joint instruction position is in a preset position range so as to provide force feedback for an operator to prompt that the target movement position of the second joint group is approaching to the physical limit position of the second joint group;

Wherein the direction of the boundary-prompting moment is opposite to the current movement direction of the first joint group.

In an alternative implementation, the step of outputting the boundary-prompt torque to the first joint group when the joint command position is within the preset position range includes:

acquiring a first distance between a joint command position and a physical limit position of a second joint group;

outputting boundary prompt moment to the first joint group under the condition that the first distance is smaller than or equal to the preset distance.

In an alternative implementation, the magnitude of the boundary-hinting torque is inversely related or exponentially inversely related to the first distance.

obtaining a virtual limit position of a preset second joint group; the virtual limit position is smaller than the physical limit position;

And outputting boundary prompt moment to the first joint group under the condition that the joint command position is located between the virtual limit position and the physical limit position.

In an alternative implementation, in the case that the joint command position is located between the virtual limit position and the physical limit position, there is a second distance between the joint command position and the virtual limit position, and the magnitude of the boundary-prompting torque is positively correlated or exponentially correlated with the second distance.

In an alternative implementation, the first joint set includes a first joint and a second joint;

Outputting a boundary-alert torque to the first joint group if the joint command position is within the predetermined range of positions, comprising:

decomposing the boundary prompt moment into a first boundary prompt moment and a second boundary prompt moment; the first boundary prompting moment is the boundary prompting moment of the first joint, and the second boundary prompting moment is the boundary prompting moment of the second joint;

Setting the second boundary prompting moment to be zero under the condition that the first boundary prompting moment is larger than the second boundary prompting moment preset threshold;

Outputting a first boundary prompt moment to a first joint;

or alternatively

Setting the first boundary prompting moment to be zero under the condition that the first boundary prompting moment is smaller than the second boundary prompting moment preset threshold;

outputting a second boundary-prompting moment to the second joint.

In an alternative implementation, after the step of outputting the boundary-prompt torque to the first joint group in the case where the joint command position is within the preset position range, the method includes:

generating a driving second control instruction based on the boundary prompt moment; the second control instructions are configured to control the drive mechanism of the first joint set to provide force feedback to the operator;

Outputting a second control instruction to the driving mechanism.

In an alternative implementation, the second control command includes a command joint torque or a current control command configured to control the magnitude of the current input to the drive mechanism; outputting a second control command to the first joint group, including:

And outputting a command joint moment or a current control command to the driving mechanism.

In an alternative implementation, the second control instruction includes a target position instruction; outputting a second control command to the driving mechanism, comprising:

Outputting a target position instruction to a driving mechanism; the target position is the position of the first joint group when the joint instruction position is at the boundary of one side of the preset position range, which is away from the physical limit position.

In an alternative implementation, the step of outputting the boundary-prompting torque to the first joint group when the joint command position is within the preset position range includes:

under the condition that the joint command position is in the preset position range, determining the joint virtual speed of the second joint group, wherein the direction of the joint virtual speed is opposite to the physical limit position;

Determining a virtual spatial velocity of the end instrument reference point in a first tool coordinate system of the surgical arm based on the joint virtual velocity;

Determining a first virtual spatial resistance of the surgical arm in a first tool coordinate system based on the virtual spatial velocity; setting a second virtual space resistance of the main control arm in a second tool coordinate system of the main control arm; the second virtual space resistance is consistent with the first virtual space resistance;

And determining the joint moment of the first joint group based on the second virtual space resistance, and taking the joint moment as a boundary prompt moment.

According to a second aspect of embodiments of the present application, there is provided a motion prompting device for a surgical robot, the surgical robot including a master control arm having a first joint set and a surgical arm having a second joint set; the apparatus further comprises:

a controller configured to move the first joint group based on an operation of an operator to issue a first control instruction;

A controller configured to acquire a joint command position of the second joint group to generate a follow-up motion based on the first control command;

The controller is further configured to output boundary prompt torque to the first joint group to provide force feedback to an operator to prompt that the target movement position of the second joint group is approaching the physical limit position of the second joint group under the condition that the joint command position is within the preset position range;

wherein the direction of the boundary-prompting moment is opposite to the current following movement direction of the first joint group.

According to a third aspect of an embodiment of the present application, there is provided a surgical robot including a master control arm having a first joint set and a surgical arm having a second joint set; the surgical robot further includes: a processor and a memory;

A memory configured to store executable instructions;

And a processor configured to read the executable instructions stored in the storage, wherein the processor executes the executable instructions to implement the motion prompting method of the surgical robot provided by any optional implementation manner of the first aspect of the embodiment of the present application.

According to a fourth aspect of the embodiments of the present application, there is provided a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for motion prompting of a surgical robot provided by any one of the alternative implementations of the first aspect of the embodiments of the present application.

According to the motion prompting method and device for the surgical robot, the surgical robot and the computer readable storage medium provided by the embodiment of the application, the first joint group of the main control arm is driven to move based on the operation of an operator, so that a first control instruction is sent; generating joint command positions of following motions based on the first control commands by acquiring a second joint group of the surgical arm; outputting a boundary prompt moment to the first joint group under the condition that the joint instruction position is in a preset position range, wherein the direction of the boundary prompt moment is opposite to the current movement direction of the first joint group; in this manner, the drive mechanism (e.g., articulation motor) of the first articulation group may be caused to provide force feedback to the operator by the boundary-alert torque to alert the operator that the target movement position of the second articulation group is approaching a physical limit position. The driving mechanism (such as a joint motor) of the main control arm can provide a reverse acting force for an operator (such as a palm of a doctor) in a manner corresponding to the first boundary prompting moment, so that the doctor is prompted that the second joint group of the current operation arm is close to a physical limit position, further operation of the first joint group of the main control arm along the current direction needs to be stopped or slowed down, the operator can know the joint position of the operation arm in time conveniently, and the operation of the main control arm is gradually regulated.

Drawings

FIG. 1 is a flow chart of one implementation of a method for motion prompting for a surgical robot provided in some embodiments of the present application;

FIG. 2 is a flow chart of another implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application;

FIG. 3 is a flow chart of yet another implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application;

FIG. 4 is a flowchart of yet another implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application;

FIG. 5 is a flowchart of yet another implementation of a method for motion prompting for a surgical robot provided by some embodiments of the present application;

FIG. 6 is a block diagram of a motion prompting device for a surgical robot provided in some embodiments of the application;

fig. 7 is a block diagram of a surgical robot provided in some embodiments of the application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

In this specification, numerous specific details are set forth in some places. It is understood, however, that embodiments of the application may be practiced without these specific details. Such detailed description is not to be taken in a limiting sense, and the scope of the present application is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present application.

In this specification, the drawings show schematic representations of several embodiments of the application. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present application.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "below," "lower," "upper" and the like, if any, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," "end instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, ultrasonic blade, stapling device, imaging device (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present application further provide an articulating support (sometimes referred to as a "wrist") for a surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. In some examples, many end effectors include functional mechanical degrees of freedom, such as open or closed jaws, or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. In some examples, the system may provide one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Summary of Master-slave teleoperated laparoscopic surgical robots

Endoscopic surgical robots typically include a doctor control platform (also called a doctor platform), a patient surgical platform (also called a patient platform), and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by an endoscope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or endoscopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

Fig. 1 is a flowchart of one implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application.

Referring to fig. 1, in some examples of the embodiments of the present application, a motion prompting method for a surgical robot is provided, which may be applied to the surgical robot described in the foregoing embodiments of the present application to prompt motion of a surgical arm of the surgical robot.

In some examples, the surgical robot may include a master control arm and a surgical arm. In some examples, the master control arm may be configured to be operated by an operator. In some examples, the operator may be a doctor or an assistant as described in the foregoing embodiments of the present application, and the doctor may perform the operation on the surgical arm by operating the master control arm, so that the surgical arm drives the end instrument to move, thereby performing the surgical operation.

In some examples, the master control arm may have a first joint set. The doctor can operate the first joint group of the main control arm so as to send out a first control instruction.

In some examples, the surgical arm may have a second joint set. The surgical arm may be configured to grip the end instrument and drive the second joint set to follow movement in accordance with the first control instructions.

In some examples, the surgical arm may be configured to grip an end instrument. In some examples, the master control arm is configured to issue control instructions to the surgical arm to drive the second joint set to follow movement, thereby causing the surgical arm to perform a surgical operation.

In some examples, the master control arm may be operated by an operator to issue control instructions to the surgical arm.

The motion prompting method of the surgical robot provided by some embodiments of the present application may be executed on a doctor platform side, and may include the following steps:

step 101, driving the first joint group to move based on the operation of the operator so as to send out a first control instruction.

In some examples, an operator may operate the master control arm to drive the first joint set to move, and in the moving process of the first joint set, a first control instruction is sent to the surgical arm, so that the master control arm performs operation on the surgical arm, that is, the master control arm performs master-slave operation on the surgical arm.

Step 102, acquiring a joint command position of the second joint group, which generates following motion based on the first control command.

In some examples, the doctor platform may obtain a first control instruction sent by the master control arm during a master-slave operation of the master control arm on the surgical arm, and obtain a joint instruction position of the second joint group following motion by performing inverse solution on the slave operation space instruction according to the first control instruction. Specifically, the first control instruction is converted into a desired position of the distal end of the surgical arm, the desired position can be calculated by inverse solution to obtain the joint instruction position of each joint in the second joint group of the surgical arm, and the calculation principle and the calculation process are common knowledge and will not be described in detail.

In some examples, it may be a controller or processor of the patient surgical platform that obtains joint command positions.

In some examples, the joint command position may indicate a target position at which the second joint set of the surgical arm follows the first joint set of the master control arm, thereby causing the surgical arm to perform a surgical operation.

For example, when the operator operates the first joint group of the main control arm, the operator moves the first joint group of the main control arm to the target position a, and at this time, the main control arm can send a first control instruction to the operation arm in real time in the process of moving the main control arm, and the joint instruction position of the operation arm is calculated according to the principle of space inverse solution; for example, the joint command positions may be a1, a2, a3 … … until the joint command position is a; in the moving process of the main control arm, the second joint group of the operation arm moves along with the main control arm according to the joint instruction position calculated by the first control instruction sent by the main control arm; therefore, when the first joint group of the main control arm moves to the a1 position, the second joint group of the operation arm can follow up to the joint command position a1 according to the joint command position until when the first joint group of the main control arm moves to the target position a, the second joint group of the operation arm can follow up to the joint command position a according to the first control command.

It will be appreciated herein that the target position a of the first joint set of the master control arm may refer to the spatial position of the first joint set of the master control arm relative to the eyepiece in its own tool coordinate system (which may also be referred to as a second tool coordinate system in some examples); the joint command position of the second joint set of the surgical arm may refer to the spatial position of the second joint set relative to the endoscope in the surgical arm's own tool coordinate system (which may also be referred to as the first tool coordinate system in some examples).

That is, in some examples, the motion state of the surgical arm relative to the endoscope in the first tool coordinate system may be consistent with the motion state of the master control arm relative to the eyepiece in the second tool coordinate system.

Step 103, outputting a boundary prompt moment to the first joint group to provide force feedback for an operator to prompt that the target position of the second joint group is approaching to the physical limit position of the second joint group under the condition that the joint instruction position is within the preset position range; wherein the direction of the boundary-prompting moment is opposite to the current movement direction of the first joint group.

In some examples of the embodiments of the present application, in order to avoid a situation that the operator immediately stops the master-slave operation when the second joint set moves to the physical limit position, and may cause a stuck surgical procedure, in some examples of the embodiments of the present application, the second joint set may be set to move within a certain range.

In some examples, an area beyond the set second joint group movement range may be set as the preset position range.

In some examples, the physical limit position is a physical limit boundary position when the second joint set is in motion.

In some examples, the second joint set of the surgical arm calculates a joint command position based on the first control command and moves and rotates based on the joint command position. The second joint set typically has a physical limit boundary position during movement or rotation; that is, the second joint group cannot continue to move beyond the physical limit boundary position when rotating to the physical limit boundary position.

In some examples, the boundary-prompting torque of the first joint set may be stored in a doctor platform of the surgical robot at the time of shipment of the surgical robot. Specifically, the magnitude of the boundary-warning torque may be fixed, and when the first joint group needs to provide the boundary-warning torque, the boundary-warning torque with the set magnitude is directly output. How the first joint set needs to provide the boundary-prompting moment is determined/calculated will be described in detail later.

In some examples, the motion boundary cue torques of the first joint set may be stored in a doctor platform of the surgical robot in the form of a mapping table. Specifically, the relation between the magnitude of the boundary prompt moment and each position in the preset position range is pre-stored in the mapping table, and when the joint instruction position is determined to be in the preset position range, the magnitude of the boundary prompt moment can be automatically read, and then the boundary prompt moment with the read magnitude is output.

In some examples, the boundary-hinting torque in the mapping table may be zero if the joint command position is outside of the preset position range.

It will be appreciated that in some examples of embodiments of the application, the first joint set of the master control arm moves under the operation of the surgeon such that the second joint set of the surgical arm follows the movement and moves toward a physical limit. In some examples of embodiments of the present application, to avoid a situation where the master-slave operation immediately stops when the second joint set of the surgical arm moves to a physical limit position, resulting in a stuck surgical procedure, the purpose of the boundary prompt torque is to prevent or desirably prevent the operator from continuing to operate in the current direction of motion. Thus, the direction of the boundary-cue torque may be opposite to the current direction of motion of the first joint set.

It will be appreciated that in some examples, the boundary-cue torque has at least a torque component in a direction opposite the current direction of motion of the first joint set.

In some examples, the master control arm itself has a weight, and the first joint set of the master control arm is typically provided with a balancing mechanism, such as a motor, spring, or the like, that balances the weight of the master control arm. For example, the motor output balancing moment balances a portion of the weight moment of the master control arm.

In some examples of embodiments of the application, the master control arm may be movable under the trim moment, boundary-alert moment, and operator operation. Wherein the trim moment may be balanced with the weight moment of the master control arm, and the boundary-warning moment may prevent or desirably prevent the operator from continuing to operate in the current operating direction, thereby serving to warn the operator that the target movement position of the second joint set is approaching the physical limit position of the second joint set.

According to the motion prompting method of the surgical robot, which is provided by the embodiment of the application, the first joint group of the main control arm is driven to move based on the operation of an operator, so that a first control instruction is sent; generating joint command positions of following motions based on the first control commands by acquiring a second joint group of the surgical arm; outputting a boundary prompt moment to the first joint group under the condition that the joint instruction position is in a preset position range, wherein the direction of the boundary prompt moment is opposite to the current movement direction of the first joint group; in this manner, the drive mechanism (e.g., articulation motor) of the first articulation group may be caused to provide force feedback to the operator by the boundary-alert torque to alert the operator that the target movement position of the second articulation group is approaching a physical limit position. The driving mechanism (such as a joint motor) of the main control arm can provide a reverse acting force for an operator (such as a palm of a doctor) in a manner corresponding to the first boundary prompting moment, so that the doctor is prompted that the second joint group of the current operation arm is close to a physical limit position, further operation of the first joint group of the main control arm along the current direction needs to be stopped or slowed down, the operator can know the joint position of the operation arm in time conveniently, and the operation of the main control arm is gradually regulated.

Fig. 2 is a flowchart of another implementation of a motion prompting method for a surgical robot according to some embodiments of the present application.

In some examples and referring to fig. 2, in some alternative examples of embodiments of the present application, a method for prompting a motion boundary of a surgical robot may include the steps of:

step 201, based on the operation of the operator, the first joint set is driven to move so as to issue a first control instruction.

Step 202, obtaining a joint command position for a second joint group to generate a command following motion based on the first control.

In some examples of embodiments of the present application, step 201 may be the same as or similar to step 101 in the previous embodiments of the present application, and step 202 may be the same as or similar to step 102 in the previous embodiments of the present application; reference may be made specifically to the foregoing detailed description of embodiments of the present application, which is not repeated herein.

Step 203, obtaining a first distance between the joint command position and the physical limit position of the second joint set.

In some examples, the position of the physical extreme position of the second joint set in the first tool coordinate system may be a fixed position. The doctor platform may compare the joint command position obtained by the inverse solution with the physical limit position, thereby obtaining the first distance. In some examples, the distance between the physical limit position of the second joint set and the joint command position may also be monitored in real time by a motor encoder at the second joint set.

Step 204, outputting a boundary prompting moment to the first joint group when the first distance is less than or equal to the preset distance. It will be appreciated that in some examples, the distance between the physical limit position of the second joint set and the joint command position may also be monitored in real time by a position sensor provided at the second joint set, and the real-time monitored distance may be compared with a preset distance.

In some examples, the distance between the joint command position and the physical limit position may be inversely or exponentially related to the magnitude of the boundary-cue torque. For example, the smaller the distance between the joint command position and the physical limit position, the closer the second joint set motion state of the surgical arm is to the physical limit position, and the larger the boundary-prompting torque in the map table may be. Or the greater the distance between the joint command position and the physical limit position, the further the second articulation state of the surgical arm is from the physical limit position, and the smaller the boundary-prompting torque in the mapping table may be.

In some examples, the boundary-prompting torque in the mapping table may be zero if the distance between the joint command position and the physical limit position is greater than a preset distance.

In some examples, the magnitude of the boundary-prompting torque may also be customized based on the usage habits of the operator. For example, on the basis of the above, options such as "strong prompt", "medium prompt", "weak prompt" and the like are provided for the operator to select, and when "strong prompt" is selected, the boundary prompt moment is relatively maximum, and the prompt feeling obtained by the operator is relatively strongest. And the other is the same.

In some examples, the preset distance may be a setting of the surgical robot at the factory. For example, a plurality of different preset distances may be set at the doctor's platform of the surgical robot according to different surgical types, different lesion sizes, etc. The operator can select settings according to the actual needs of the operation before each operation.

In some examples, the preset distance may also be obtained by performing an initial calibration prior to each procedure. For example, in some examples, prior to surgery, an operator may enter relevant parameter information of an object of action (e.g., a patient, focal tissue, or tissue to be operated on) into a doctor platform, which is initialized to a corresponding preset distance according to the relevant entered by the operator.

In some examples, the preset distance may be greater than zero. In some examples of the embodiment of the present application, the preset distance may be set according to the actual requirement of the operation object, and the embodiment of the present application does not limit a specific value of the preset distance.

In some examples of the embodiments of the present application, after outputting the boundary-prompting torque to the first joint group, the first joint group of the master control arm may move when the operator overcomes the boundary-prompting torque, and at this time, the operation of the operator on the first joint group of the master control arm may be subjected to the reverse acting force of the boundary-prompting torque, so that the operator needs to use a greater force to operate the master control arm, thereby playing a role in prompting the operator that the second joint group is approaching to the physical limit position.

In some examples, the first joint set of the master control arm may be operated by the operator to provide a reduced motion under the influence of the boundary-prompting torque. For example, the boundary prompting moment may be greater than the force of the operator operating the first joint set, and the direction of the boundary prompting moment is opposite to the direction of the force of the operator operating the first joint set, so that the first joint set is decelerated, and at this time, the arm of the operator is subjected to the reaction force of the master control arm, so that the operator may be prompted that the second joint set of the current operation arm is approaching the physical limit position, so that the operator can stop the operation along the current direction in time.

In some examples, the first joint set of the master control arm may disable the operator from continuing to operate the master control arm motion under the influence of the boundary-prompting torque. The second joint group of the current operation arm of the operator can be prompted to approach the physical limit position, so that the operator can stop the operation along the current direction in time.

In some examples, the first joint set of the master control arm may cause the operator to reverse the operation of the master control arm under the influence of the boundary-prompting torque such that the second joint set of the surgical arm may follow the movement in a direction away from the physical limit position.

Fig. 3 is a flowchart of still another implementation of a motion prompting method for a surgical robot according to some embodiments of the present application.

In some examples of embodiments of the present application, referring to fig. 3, a motion prompting method of a surgical robot may include the steps of:

step 301, moving the first joint set based on the operation of the operator to issue a first control command.

Step 302, acquiring a joint command position of a second joint group, which generates a following motion based on a first control command.

In some examples of the embodiments of the present application, step 301 may be the same as or similar to step 101 in the foregoing embodiments of the present application, and step 302 may be the same as or similar to step 102 in the foregoing embodiments of the present application, and specific reference may be made to the detailed description of the foregoing embodiments of the present application, which is not repeated herein.

Step 303, obtaining a virtual limit position of a preset second joint group; the virtual limit position is smaller than the physical limit position.

In some examples, the virtual limit position may be a limit position set before the surgical robot leaves the factory.

In some examples, the virtual limit position may be a limit position set by an operator based on a lesion condition before each operation. The embodiment of the application does not limit the specific position of the virtual limit position, and only ensures that the virtual limit position is smaller than the movable physical limit position of the second joint group.

Step 304, outputting a boundary prompting moment to the first joint group when the joint command position is located between the virtual limit position and the physical limit position.

In some examples, it may be determined that the joint command position is within a preset position range in a case where the joint command position is located between the virtual limit position and the physical limit position. That is, the range between the virtual limit position and the physical limit position may be a preset position range.

In some examples, where the joint command position is located between the virtual limit position and the physical limit position, the joint command position may have a second distance from the virtual limit position.

In some examples, the second distance may be calculated from coordinates of the virtual limit position and the joint command position in the first tool coordinate system.

In some examples, the second distance may also be calculated from the distance between the virtual limit position and the physical limit position and the first distance obtained in the foregoing embodiment of the present application.

In some examples, the magnitude of the boundary-hinting torque can be positively correlated to the second distance. That is, the magnitude of the boundary-alert torque may increase as the second distance increases, thereby increasing the alert force to the operator.

In some examples, the magnitude of the boundary-hinting torque can be positively correlated to the second distance index. That is, the magnitude of the boundary-prompting torque may increase exponentially with increasing second distance, thereby increasing the prompting strength to the operator.

In some examples of embodiments of the application, the master control arm may have multiple joints.

In some examples, the first joint set may include a first joint and a second joint. It will be appreciated that in other examples, the first joint set may have more joints, and in embodiments of the present application, the first joint and the second joint are merely illustrated as a specific example, and not limiting the number of joints of the master control arm.

In some examples, the second joint set may include a third joint and a fourth joint. It will be appreciated that in some examples, the second joint set may include more sub-joints, and that in embodiments of the present application, the third joint and the fourth joint are described as a specific example only and not limiting as to the number of surgical arm joints.

Fig. 4 is a flowchart of still another implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application.

In some examples of embodiments of the present application, referring to fig. 4, a method for limiting a movement boundary of a mechanical arm joint may include the following steps:

step 401, moving the first joint set based on the operation of the operator to issue a first control command.

Step 402, acquiring a joint command position of a second joint group, which generates a following motion based on a first control command.

Step 403, decomposing the boundary-alert torque into a first boundary-alert torque and a second boundary-alert torque. The first boundary prompting moment is the boundary prompting moment of the first joint, and the second boundary prompting moment is the boundary prompting moment of the second joint.

In some examples, the joint command position may be a joint command position where any one of the joints in the second joint set follows motion.

In some examples, the joint command position may include a third joint command position. The third joint command position may correspond to a third joint.

In some examples, the joint command position may include a fourth joint command position. The fourth joint command position may correspond to a fourth sub-joint.

In some examples, the boundary-warning torque may be a boundary-warning torque that is output when any one of the third joint command position and the fourth joint command position is within a preset position range.

In some examples, since the master control arm has multiple joints, boundary-cue torques may be resolved into each joint of the master control arm.

In some examples, the third joint is approaching a physical limit position of the third joint where the third joint command position is within a preset range of positions. At this time, the doctor platform may output a boundary prompt moment to the first joint group; the boundary-hinting torque can be decomposed into a first boundary-hinting torque and a second boundary-hinting torque.

In some examples, the fourth joint is approaching a physical limit position of the fourth joint if the fourth joint command is within a preset range of positions. At this time, the doctor platform may output a boundary prompt moment to the first joint group; the boundary-hinting torque can be decomposed into a first boundary-hinting torque and a second boundary-hinting torque.

In step 404a, if the first boundary-alert torque is greater than the second boundary-alert torque preset threshold, the second boundary-alert torque is set to zero.

In some examples, after the first boundary-warning torque and the second boundary-warning torque are obtained, the magnitudes of the first boundary-warning torque and the second boundary-warning torque may be compared and determined.

In some examples, the doctor platform may compare and determine the magnitudes of the first boundary-alert torque and the second boundary-alert torque through a comparison circuit.

In addition, the doctor platform may compare the difference between the first boundary-alert torque and the second boundary-alert torque to a preset threshold.

In some examples, when the comparison result is that the first boundary-alert torque is greater than the second sub-boundary-alert torque by a preset threshold, the doctor platform may set the second boundary-alert torque to zero, leaving only the first boundary-alert torque.

That is, in some examples of embodiments of the present application, the first boundary-alert torque is greater than the second boundary-alert torque, and the amount by which the first boundary-alert torque is greater than the second boundary-alert torque exceeds the preset threshold; at this time, the doctor platform may set the second boundary-alert torque to zero, i.e., may ignore the second boundary-alert torque, leaving only the first boundary-alert torque.

In some examples, where the first joint set includes more joints, the boundary-hinting torques corresponding to each joint may be compared, and the largest one of the boundary-hinting torques determined, with the remaining boundary-hinting torques set to zero.

Step 405a, outputting a first boundary-alert torque to a first joint.

In some examples, only the largest one of the first and second boundary-hinting torques is reserved, and the other boundary-hinting torque is set to zero; thus, the feedback force of the main control arm to the operator only carries out feedback prompt in one direction. Error prompt in other directions can be effectively avoided, and the accuracy of the operation of the main control arm and the accuracy of the joint position judgment of the second joint group by an operator are improved.

In some examples, a motion prompting method of a surgical robot may include:

in step 404b, the first boundary-warning torque is set to zero if the first boundary-warning torque is less than the second boundary-warning torque preset threshold.

That is, in some examples, in the case that the comparison result is that the first boundary-alert torque is less than the second boundary-alert torque preset threshold, the doctor platform may set the first boundary-alert torque to zero, leaving only the second boundary-alert torque.

In some embodiments of the present application, the step 203b is the same as or similar to the step 203a in the previous embodiments of the present application, and reference may be made to the detailed description of the previous embodiments of the present application, which is not repeated herein.

Step 405b, outputting a second boundary-alert torque to the second joint.

It will be appreciated that, in some examples of the embodiment of the present application, the step 205b is the same as or similar to the step 205a in the previous embodiment of the present application, and specific reference may be made to the detailed description of the previous embodiment of the present application, which is not repeated herein.

Fig. 5 is a flowchart of still another implementation of a motion prompting method for a surgical robot provided by some embodiments of the present application.

In some examples of embodiments of the present application, a method for motion prompting of a surgical robot may include the steps of:

step 501, the first joint set is moved based on the operation of the operator, so as to issue a first control command.

Step 502, acquiring a joint command position of a second joint group, which generates following motion based on a first control command.

Step 503, outputting a boundary prompt moment to the first joint group when the joint command position is within the preset position range.

In some examples, where the doctor platform determines that the joint command position is within the preset range of positions, the doctor platform may determine the joint virtual velocity of the second joint set.

In some examples, the direction of the virtual velocity of the joint may be away from the physical limit position, and the magnitude of the virtual velocity of the joint may be inversely or exponentially related to the distance between the commanded position of the joint and the physical limit position. For example, the closer the distance between the joint command position and the physical limit position, the greater the joint virtual velocity may be. The further the distance between the joint command position and the physical limit position, the less the joint virtual velocity can be.

In some examples, the joint virtual velocity may be zero in the event that the joint command position is outside of the preset position range.

In some examples, after determining the joint virtual velocity, the doctor platform may determine a virtual spatial velocity of the end instrument reference point in a first tool coordinate system of the surgical arm based on the joint virtual velocity.

In some examples, the joint virtual waste may be mapped to a virtual space velocity using a jacobian matrix. It will be appreciated that in embodiments of the present application, the jacobian matrix is illustrated as a specific example of one type of virtual spatial velocity that maps joint virtual velocities to end instrument reference points. In some examples, other means may be employed to convert the joint virtual velocities of the various articulation points of the surgical arm to virtual spatial velocities of the end instrument reference points. The embodiments of the present application are not limited in this regard.

In some examples, the virtual spatial velocity of the end instrument reference point in the first tool coordinate system of the surgical arm may be converted from the joint virtual velocity of each first articulation point using a jacobian matrix.

In some examples, after deriving the virtual spatial velocity of the end instrument in the first tool coordinate system, a first virtual spatial resistance of the surgical arm may be determined in the first tool coordinate system based on the virtual spatial velocity.

In some examples, the relationship between the first virtual space resistance and the virtual space velocity of the surgical arm may be similar to the relationship between velocity and damping, i.e., the virtual space velocity may be scaled by a certain ratio and the velocity units of the virtual space velocity may be converted into units of force of the first virtual space resistance by a conversion coefficient, thereby obtaining the virtual space resistance of the surgical arm.

Generally, in master-slave operation, the motion state (e.g., position, attitude, velocity, acceleration, etc.) of a first tool coordinate system of the surgical arm relative to the endoscope is the same as the motion state of a second tool coordinate system of the master control arm relative to the eyepiece coordinate system. Thus, in some examples, a first tool coordinate system of the surgical arm and a second tool coordinate system of the master control arm may be virtually connected together in space, i.e., the master control arm has a second virtual spatial resistance in the second tool coordinate system, which may be consistent with, e.g., the same as, similar to, or similar to, the first virtual spatial resistance; the first virtual space resistance may be set to the second virtual space resistance.

In some examples of embodiments of the present application, in the case where the doctor platform determines that the joint command position is within the preset position range, the doctor platform obtains the second virtual space resistance by determining a joint virtual speed of the second joint group, determining a virtual space speed of the end instrument reference point in the first tool coordinate system by the joint virtual speed, and then determining the first virtual space resistance based on the virtual space speed. Therefore, the joints of the main control arm and the operation arm with different structural forms are conveniently connected in a space coordinate system, and the second virtual space resistance of the main control arm is conveniently obtained.

In some examples, the doctor platform may determine a joint moment of the first joint set based on the second virtual spatial resistance and output the joint moment to the first joint set as a boundary-cue moment.

Step 504, a second control command is generated based on the boundary-hinting torque.

In some examples, the second control instructions are configured to control a drive mechanism (e.g., a joint motor) of the first joint set to provide force feedback to the operator.

In some examples, the drive mechanism may be a motor at the first joint set.

Step 505, outputting a second control command to the driving mechanism.

In some examples, the control command may include a command joint torque. The doctor platform can output the command joint moment to the driving mechanism.

In some examples, the control instructions may include current control instructions. The current control instructions may be configured to control the magnitude of the current output to the drive mechanism of the first joint set.

In some examples, the drive mechanism may also be referred to as a joint controller of the first joint set.

In some examples, the doctor platform may output current control instructions to the drive mechanism. For example, in some examples, the doctor platform may reduce or reverse the current to the drive mechanism of the first joint set, or the like.

In some examples, the control instructions may include target position instructions.

In some examples, the doctor platform may output a target position command to the driving mechanism, where the target position may be a position where the first joint group is located if a distance between the joint command position and the physical limit position is equal to a preset distance.

In some examples, the target position may be a position where the first joint group is located when the joint command position is located at a boundary of the preset position range away from the physical limit position.

In some examples, the target position may be understood as an actual position of the first joint group of the master control arm in a previous control period before the joint command position and the physical limit position of the second joint group of the surgical arm are less than or equal to a preset distance in the master-slave control process.

In some examples, corresponding to locking the position of the first joint set of the master control arm at the target position, the operator cannot continue to operate the master control arm to a side closer to the physical limit position.

Typically, the first joint set of the master control arm is flexible, and in some examples, the operator may operate the master control arm by snapping the master control arm after the first joint set of the master control arm is locked in a target position.

In some examples, the doctor platform may unlock the first joint set if a distance between the joint command position and the physical limit position is greater than or equal to a preset distance.

That is, in some examples, the doctor platform may exit locking the first joint set position of the master control arm if the distance between the joint command position and the physical limit position is greater than or equal to a preset distance.

In some examples, the doctor platform may output a trim moment to the first joint set if the joint command position is outside of a preset range of positions.

Fig. 6 is a block diagram of a motion prompting device for a surgical robot according to some embodiments of the present application.

Referring to fig. 6, in some examples of embodiments of the application, a motion cue is provided for a surgical robot including a master control arm having a first set of joints and a surgical arm having a second set of joints; the motion prompting device 40 of the surgical robot may include a controller, which may include:

a transmission module 61 configured to move the first joint group based on an operation of an operator to issue a first control instruction;

The acquisition module 62 is configured to acquire a joint command position of the second joint group that generates the following motion based on the first control command.

The output module 63 outputs a boundary prompt moment to the first joint group to provide force feedback to an operator to prompt that the target movement position of the second joint group is approaching to the physical limit position of the second joint group when the joint command position is within the preset position range;

In some examples, the acquisition module 62 is further configured to acquire a first distance between the joint command position and a second joint set physical limit position;

the output module 63 is further configured to output a boundary-prompting moment to the first joint group if the first distance is less than or equal to the preset distance.

In some examples, the obtaining module 62 is further configured to obtain a virtual limit position of the preset second joint group; the virtual limit position is smaller than the physical limit position.

An output module 63 configured to output a boundary-prompting torque to the first joint group if the joint command position is located between the virtual limit position and the physical limit position

In some examples, the first joint set may include a first joint and a second joint;

in some examples, the controller may include:

A decomposition module 64 configured to decompose the boundary-hinting torque into a first boundary-hinting torque and a second boundary-hinting torque; the first boundary prompting moment is the boundary prompting moment of the first joint, and the second boundary prompting moment is the boundary prompting moment of the second joint;

A setting module 65 configured to set the second boundary-hinting torque to zero if the first boundary-hinting torque is greater than the second boundary-hinting torque preset threshold;

The output module 63 is further configured to output a first boundary-alert torque to the first joint.

In some examples, the setting module 65 is further configured to set the first boundary-warning torque to zero if the first boundary-warning torque is less than the second boundary-warning torque preset threshold;

The output module 63 is further configured to output a second boundary-prompt torque to the second joint.

In some examples, the controller may include:

A generation module 66 configured to generate a drive second control command based on the boundary-hinting torque; the second control instructions are configured to control the drive mechanism of the first joint set to provide force feedback to the operator;

the output module 63 is further configured to output a second control instruction to the driving mechanism.

In some examples, the control instructions may include instructions to joint torque or current control instructions configured to control the magnitude of current input to the drive mechanism of the first joint set; the output module 63 is further configured to output a command joint torque or a current control command to the drive mechanism.

In some examples, the control instructions include target position instructions; an output module 63 for outputting a target position instruction to the balancing mechanism; the target position is the position of the first joint group when the joint instruction position is at the boundary of one side of the preset position range, which is away from the physical limit position.

In some examples, the controller further comprises:

The determining module 67 is further configured to determine a joint virtual speed of the second joint group if the joint command position is within the preset position range, the direction of the joint virtual speed is opposite to the physical limit position, and the magnitude of the joint virtual speed is inversely proportional to the distance between the joint command position and the physical limit position;

a determination module 67 further configured to determine a virtual spatial velocity of the end instrument reference point in the first tool coordinate system of the surgical arm based on the joint virtual velocity;

A determination module 67 further configured to determine a first virtual space resistance of the surgical arm in a first tool coordinate system based on the virtual space velocity; in a second tool coordinate system of the master control arm, the master control arm has a second virtual space resistance; the second virtual space resistance is consistent with the first virtual space resistance;

The determining module 67 is further configured to determine a joint moment of the first joint group based on the second virtual space resistance, and take the joint moment as a boundary-prompting moment.

It should be noted that, the motion prompting device of the surgical robot provided in some examples of the embodiments of the present application has the same or corresponding technical features and the same or similar technical effects as the motion prompting method of the surgical robot provided in the foregoing embodiments of the present application, and specific reference may be made to the detailed description of the foregoing embodiments of the present application, which is not repeated herein.

In some examples of embodiments of the present application, referring to fig. 7, a surgical robot 70 is provided. The surgical arm comprises a main control arm and a surgical arm, wherein the main control arm is provided with a first joint group, and the surgical arm is provided with a second joint group; the surgical robot further includes: a processor 71 and a memory 72;

a memory 72 configured to store executable instructions;

The processor 71 is configured to read the executable instructions stored in the memory 72, and when the processor 71 executes the executable instructions, the method for limiting the movement boundary of the mechanical arm provided in any of the alternative examples of the foregoing embodiments of the present application is implemented.

In some examples of embodiments of the present application, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements a method for limiting a movement boundary of a mechanical arm provided in any of the alternative examples of the foregoing embodiments of the present application.

Those skilled in the art will appreciate that the processes implementing all or part of the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the processes of the embodiments of the methods as above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), or the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motion prompting method of a surgical robot, the surgical robot comprising a master control arm and a surgical arm, the master control arm having a first joint set and the surgical arm having a second joint set; characterized in that the method comprises:

Acquiring a joint instruction position of the second joint group which generates following motion based on the first control instruction;

Outputting a boundary prompt moment to the first joint group to provide force feedback to the operator to prompt that the target movement position of the second joint group is approaching to the physical limit position of the second joint group under the condition that the joint instruction position is in a preset position range;

wherein the direction of the boundary-prompting torque is opposite to the current movement direction of the first joint group.

2. The method according to claim 1, wherein the step of outputting a boundary-warning torque to the first joint group in the case where the joint command position is within a preset position range includes:

acquiring a first distance between the joint command position and the physical limit position of the second joint group;

And outputting the boundary prompt moment to the first joint group under the condition that the first distance is smaller than or equal to a preset distance.

3. The method of claim 2, wherein the magnitude of the boundary-cue torque is inversely related to the first distance or exponentially inversely related.

4. The method according to claim 1, wherein the step of outputting a boundary-warning torque to the first joint group in the case where the joint command position is within a preset position range includes:

Obtaining a preset virtual limit position of the second joint group; the virtual limit position is smaller than the physical limit position;

and outputting the boundary prompt moment to the first joint group under the condition that the joint command position is located between the virtual limit position and the physical limit position.

5. The method according to claim 4, wherein in a case where the joint command position is located between the virtual limit position and the physical limit position, there is a second distance between the joint command position and the virtual limit position, and the magnitude of the boundary-presenting moment is positively correlated or exponentially positively correlated with the second distance.

6. The method of claim 1, wherein the first joint set includes a first joint and a second joint;

the step of outputting a boundary prompt moment to the first joint group when the joint command position is within a preset position range includes:

outputting the first boundary prompt moment to the first joint;

or alternatively

Setting the first boundary prompting moment to be zero under the condition that the first boundary prompting moment is smaller than the second boundary prompting moment by the preset threshold value;

and outputting the second boundary prompt moment to the second joint.

7. The method according to claim 1, wherein after the step of outputting a boundary-warning torque to the first joint group in the case where the joint command position is within a preset position range, the method includes:

and outputting the second control instruction to the driving mechanism.

8. The method of claim 7, wherein the second control command includes a command joint torque or a current control command configured to control a magnitude of current input to the drive mechanism; the step of outputting the second control command to the first joint group includes:

And outputting the command joint moment or the current control command to the driving mechanism.

9. The method of claim 7, wherein the second control command includes a target position command; the step of outputting the second control command to the driving mechanism includes:

Outputting the target position instruction to the driving mechanism; the target position is the position of the first joint group when the joint instruction position is at the boundary of one side of the preset position range, which is away from the physical limit position.

10. The motion estimation method of any one of claims 1 to 9, wherein the step of outputting a boundary estimation torque to the first joint group in the case where the joint estimation position is within a predetermined position range includes:

Determining the joint virtual speed of the second joint group under the condition that the joint instruction position is in a preset position range, wherein the direction of the joint virtual speed is opposite to the physical limit position;

determining a virtual spatial velocity of a distal instrument reference point in a first tool coordinate system of the surgical arm based on the joint virtual velocity;

Determining a first virtual space resistance of the surgical arm in the first tool coordinate system based on the virtual space velocity; setting a second virtual space resistance of the master control arm in a second tool coordinate system of the master control arm; the second virtual space resistance is consistent with the first virtual space resistance;

and determining the joint moment of the first joint group based on the second virtual space resistance, and taking the joint moment as the boundary prompt moment.

11. A motion prompting device of a surgical robot, the surgical robot comprising a master control arm and a surgical arm, the master control arm having a first joint set and the surgical arm having a second joint set; the method is characterized in that; the apparatus further comprises:

The controller is further configured to obtain a joint command position of the second joint group, which generates following motion based on the first control command;

The controller is further configured to output a boundary-prompting torque to the first joint group to provide force feedback to the operator that the target movement position of the second joint group is approaching a physical limit position of the second joint group if the joint command position is within a preset position range;

Wherein the direction of the boundary-cue torque is opposite to the current following motion direction of the first joint set.

12. A surgical robot comprising a master control arm having a first set of joints and a surgical arm having a second set of joints; the surgical robot is characterized by further comprising: a processor and a memory;

The memory is configured to store executable instructions;

The processor configured to read the executable instructions stored in the memory, which when executed, implements the motion prompting method of the surgical robot of any one of claims 1-10.

13. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of motion prompting of a surgical robot according to any of claims 1-10.