WO2022037209A1 - 机器人***及其控制方法 - Google Patents

机器人***及其控制方法 Download PDF

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Publication number
WO2022037209A1
WO2022037209A1 PCT/CN2021/099936 CN2021099936W WO2022037209A1 WO 2022037209 A1 WO2022037209 A1 WO 2022037209A1 CN 2021099936 W CN2021099936 W CN 2021099936W WO 2022037209 A1 WO2022037209 A1 WO 2022037209A1
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WO
WIPO (PCT)
Prior art keywords
arm
moving
positioning
motion
attitude
Prior art date
Application number
PCT/CN2021/099936
Other languages
English (en)
French (fr)
Inventor
徐凯
赵江然
Original Assignee
北京术锐技术有限公司
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Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to US18/010,733 priority Critical patent/US20230256607A1/en
Priority to EP21857306.1A priority patent/EP4201606A4/en
Publication of WO2022037209A1 publication Critical patent/WO2022037209A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Definitions

  • the present disclosure relates to the field of medical devices, and in particular, to a robot system and a control method thereof.
  • endoscopic minimally invasive surgery has the advantages of less surgical trauma, faster postoperative recovery, and less postoperative infection and complications, and has been widely used.
  • surgical instruments are carried by a moving arm. According to different patients and surgical procedures, it is necessary to adjust the positioning of the moving arm before or during the operation, so that the surgical instruments can be adjusted to the designated position of the operation.
  • the chief surgeon uses the remote operation mode to control the surgical actuator at the end of the surgical instrument to achieve surgical operations on different parts.
  • the positioning ability of the external motion arm in space is directly related to whether the surgical robot can perform a variety of surgical procedures.
  • the use of surgical robots to realize the surgical process mainly includes three processes: preoperative positioning, surgical preparation and postoperative finishing.
  • the surgical assistant such as a nurse or doctor
  • the surgical assistant first adjusts at least one moving arm to a suitable position and posture according to the type of surgery and the surgical location, so that at least one moving arm can be connected with the sheath, so that the The surgical instruments on the moving arm enter the corresponding positions in the human body that require surgery through the sheath.
  • the surgical instrument is controlled by the remote control to follow the input command to reach various positions and angles within the range, so as to realize various operation actions.
  • the process of adjusting the moving arm is complicated, and the adjustment of the moving arm has a certain order. , it is necessary to manually move each moving arm to the corresponding position, which is inefficient and not accurate enough.
  • a sterile protective cover on the surgical robot such as the moving arm, to isolate the surgical instruments near the sterile side from the moving arm on the sterile side, so as to ensure the hygiene and safety of the operation.
  • the details of the sterile protective cover are often pulled off due to various reasons. If there is no prompt at this time, it is easy to cause surgical contamination during the operation.
  • the present disclosure provides a control method for a surgical robotic system, the surgical robotic system including a plurality of motion arms including a reference motion arm and at least one follower motion arm, the The control method includes: controlling the reference moving arm to move to a reference position and a reference attitude based on an input command; the positioning position and positioning attitude of the at least one following moving arm; and controlling the at least one following moving arm to move to the positioning position and positioning attitude.
  • the present disclosure provides a robotic system comprising: a plurality of kinematic arms, the plurality of kinematic arms including a reference kinematic arm and at least one follower kinematic arm; inputting information, controlling the reference moving arm to move to a reference position and a reference attitude, and determining the positioning of the at least one following moving arm based on the determined reference position and reference attitude and the relative pose relationship of the plurality of moving arms position and positioning posture, and control the at least one follower arm to move to the positioning position and positioning posture.
  • FIG. 1 shows a flowchart of a control method of a robot system according to some embodiments of the present disclosure
  • FIG. 2 shows a schematic structural diagram of a robot system according to some embodiments of the present disclosure
  • FIG. 3 shows a flowchart of a control method of another robot system according to some embodiments of the present disclosure
  • FIG. 4 illustrates a simplified block diagram of a robotic system according to some embodiments of the present disclosure
  • Figure 5(a) shows a simplified block diagram of another robotic system according to some embodiments of the present disclosure
  • Figure 5(b) shows a simplified block diagram of the simulated control unit of the robotic system of Figure 5(a) according to some embodiments of the present disclosure.
  • the terms “installed”, “connected”, “connected” and “coupled” should be understood in a broad sense, for example, it may be a fixed connection, or It can be a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • installed e.g., it may be a fixed connection, or It can be a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • the end close to the operator is defined as proximal, proximal or posterior, posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior.
  • position refers to the location of an object or a portion of an object in three-dimensional space (eg, the three translational degrees of freedom can be described using changes in Cartesian X, Y, and Z coordinates, such as along the Cartesian X, respectively axis, three translational degrees of freedom in Y-axis and Z-axis).
  • position refers to a rotational setting of an object or a portion of an object (eg, three rotational degrees of freedom, which may be described using roll, pitch, and yaw).
  • the term "pose” refers to a combination of position and pose of an object or a part of an object, which can be described, for example, using the six parameters of the six degrees of freedom mentioned above.
  • the pose of the moving arm or a part thereof refers to the pose of the coordinate system defined by the moving arm or a part thereof relative to the coordinate system defined by the support, the base where the moving arm is located, or the world coordinate system.
  • the position of the kinematic arm or a portion thereof may be represented by a set of joint values (eg, a one-dimensional matrix of these joint values) of the joints of the kinematic arm.
  • the joint value of the joint may include the angle that the corresponding joint rotates relative to the corresponding joint axis or the distance that the joint moves relative to the initial position.
  • FIG. 1 shows a flowchart 100 of a control method of a robot system according to some embodiments of the present disclosure
  • FIG. 2 shows a schematic structural diagram of a robot system 10 according to some embodiments of the present disclosure
  • the method 100 may be performed by a control device for the robotic system 10 (eg, the control device 5 shown in FIG. 4 ), and may be implemented by software and/or hardware.
  • a control device for robotic system 10 may include a processor (eg, processor 51 shown in FIG. 4 ) configured to perform method 100 .
  • robotic system 10 may include a plurality of motion arms, such as motion arm 1 and motion arm 2 (eg, motion arms 2a, 2b, and 2c).
  • the moving arm 1 can be used as the reference moving arm
  • the moving arm 2 can be used as the following moving arm.
  • the reference moving arm may be a moving arm used to assist in determining the position and attitude of the at least one following moving arm, or may be a moving arm referenced during the movement of the at least one following moving arm.
  • the following kinematic arm may include a kinematic arm whose position and orientation are determined based on the position and orientation of the reference kinematic arm, or may be a kinematic arm that moves based on the reference kinematic arm.
  • the following kinematic arm may or may not be of the same structure as the reference kinematic arm.
  • a surgical instrument 3 (eg, a surgical tool or an endoscope) may be removably disposed on each movement arm, and each surgical instrument 3 is configured to be able to enter the operating area through a sheath.
  • the sheath can be secured at the patient's surgical port (eg, an incision or natural opening) and connected to the exercise arm.
  • the operating area may be the area where surgery is performed.
  • the movement arm 1 may be detachably connected to the endoscope 32, and the movement arm 2 may be detachably connected to the surgical tool 3 (eg, the surgical tools 31a, 31b, and 31c).
  • the robotic system 10 may include a surgical cart 4 on which a plurality of motion arms 1 and 2 may be disposed.
  • the surgical instrument 3 may include a surgical tool 31 and an endoscope 32 .
  • the surgical tool 31 or the endoscope 32 may include a drive transmission, an arm and a tip.
  • the end devices of the surgical tool 31 may include, but are not limited to, surgical forceps, electric knives, electric hooks, and the like.
  • the end device of the endoscope 32 may include, but is not limited to, an imaging device or an illumination device.
  • each movement arm is controlled based on the type of surgery prior to surgery.
  • one or more of the kinematic arms in Figure 2 are in a storage position prior to moving the kinematic arms.
  • the storage position can be the preset initial position of the exercise arm before surgery.
  • each kinematic arm may be stowed to reduce the space it occupies.
  • the storage is a zero position that can be set to the kinematic arm pose.
  • each movement arm can be moved to the protective cover mounting position.
  • the protective cover installation position from the storage position, the moving arms are extended to the distal end, and the distance between the moving arms is opened, so that the distal end of the moving arms is basically parallel to the ground or slightly downward or slightly upward to facilitate wearing. protective case.
  • the protective cover is installed according to the wearing requirements and procedures of the sterile protective cover, so that each moving arm is isolated from the sterile environment, and the surgical instruments arranged on the moving arm are in the sterile environment.
  • each exercise arm is in a large diastolic and stretched state, so that the user can wear a sterile protective cover for each exercise arm to achieve effective isolation between the sterile environment and the germ-free environment.
  • the stretched state of each movement arm can be folded to a folded position between the storage position and the protective cover installation position (for example, it can be close to the storage position to facilitate movement).
  • the user can move the robotic system 10 (eg, the operating trolley 4 ) to the vicinity of the operating table in a folded state (where the patient may already be lying on the operating table).
  • each moving arm can be in the adjustment position.
  • each moving arm In the adjustment position, each moving arm can be adjusted and controlled, so that the position and posture of each moving arm can be adjusted to a position and posture suitable for the surgical operation.
  • the adjustment positions may include a retracted position as well as multiple transition positions during the adjustment of the kinematic arm.
  • the positions and postures suitable for performing surgical operations may refer to the positions and postures at which each moving arm can be connected to the sheath.
  • the control method of the robot system in the embodiment of the present disclosure such as the method 100, can be performed.
  • the reference motion arm is controlled to move to a reference position and a reference attitude.
  • the input command may comprise a command input by a user through an input device or an instruction stored on a non-volatile storage medium. It should be understood that the input commands may include motion commands of the reference kinematic arm, based on which motion the reference kinematic arm may be commanded to move.
  • the control device of the robotic system 10 may include an input device.
  • the input device may include a user interface, such as a keyboard, touch screen, buttons, and the like.
  • a user may press a button corresponding to an exercise arm to generate motion commands that control movement of the corresponding exercise arm. Based on the motion command, the corresponding motion arm can be moved.
  • the target position and target posture eg reference position and reference posture
  • the user can press or release the button corresponding to the moving arm again to generate a stop command, and based on the stop command, the moving arm stops moving.
  • the user interface may include functions such as "confirmation key", "start/stop key", "previous step” or "next step”. These functions can be used for the overall, individual control of the kinematic arm, or the overall, individual control of the step flow state.
  • the input device may further include a touch screen, and the user can trigger the operation of each moving arm to move through the touch screen, so as to generate a movement command for moving each moving arm. It should be understood that the operation of stopping movement of each moving arm can also be triggered by means of a touch screen, so as to generate a stop instruction for stopping movement of each moving arm.
  • the input device may also include a fine-tuning input module.
  • the fine-tuning input module can be arranged on the moving arm and/or on the surgical instrument connected with the moving arm, and is used for the movement adjustment of a single moving arm to control the joint posture adjustment of the single moving arm to adjust the surgical instrument on the moving arm gesture.
  • the fine adjustment input device may include buttons for fine adjustment of the movement arm.
  • the operating trolley 4 is moved to the vicinity of the operating table, and the user can adjust the operating trolley 4 (for example, a moving arm provided on the operating trolley 4 ) and the operation according to the indicator lights set on the operating trolley 4 .
  • the indicator light may include, for example, a laser alignment light emitting downward from the top of the operating trolley 4 (eg, the main column). The indicator light can indicate the operating table 4 or the operating port position and operating height of the patient on the operating table, as well as the distance between the operating trolley 4 and the operating table or the operating port of the patient on the operating table.
  • the user can generate input commands through the user interface (such as buttons) according to the operating table or the operating port position and operating height of the patient on the operating table, as well as the distance between the operating trolley 4 and the operating table or the operating port of the patient on the operating table. For example, a plurality of movement commands) to adjust the height of the operating trolley 4 and translate the operating trolley 4 so that the indicator light and the surgical port of the surgical site are in corresponding positions.
  • the corresponding position may be a position where the indicator light can cover the surgical port, or a position where the indicator light and the surgical port are at an angle, and may also be in other positional relationships.
  • the reference moving arm 1 when the indicator light on the operating trolley 4 is in a corresponding position with the surgical port of the surgical site, the reference moving arm 1 provided on the operating cart 4 can be moved to a position close to the sheath at the operating port, The reference kinematic arm 1 can be in a reference position and a reference attitude. In some embodiments, when the indicator light on the operating trolley 4 is in a corresponding position with the surgical port of the surgical site, the reference moving arm 1 can also be located close to the reference position and the reference posture. In this way, the user can also input a motion command of the reference motion arm through the user interface (eg, button), and further adjust the pose of the reference motion arm 1 to move it to the reference position and reference posture.
  • the user interface eg, button
  • the reference kinematic arm 1 of the robotic system 10 is moved to a reference pose, which includes a reference position and a reference pose.
  • the reference moving arm 1 may be a moving arm used to assist in determining the position and posture of the at least one following moving arm 2 , and may be a moving arm referenced during the movement of the at least one following moving arm 2 .
  • the reference kinematic arm 1 may be used for detachable connection with the endoscope 32 .
  • the follower arm 2 can be used for detachable connection with the surgical tool.
  • the reference movement arm 1 is provided with an endoscope 32, and at the reference posture, the endoscope 32 (eg, the arm body and the end instrument disposed at the end or distal end of the arm body) can be smoothly entered through the sheath Surgical operating area.
  • the reference pose may be the position and pose of the end of the reference motion arm 1 (eg, the end arm or the distal end of the end arm).
  • the reference pose may be the position and pose of the distal center of motion (RCM) of the reference moving arm 1 .
  • the reference pose may be the position and pose of the connection point of the reference movement arm 1 for connection with the sheath (eg, may be located at the distal end of the distal arm).
  • the position of the connection point may include a position within a preset distance from the sheath, and the preset distance may include, but is not limited to, 10 cm.
  • the reference pose may be the orientation in which the reference kinematic arm 1 is at the reference position.
  • the reference posture may also be the position and posture of the surgical instrument.
  • the positioning position and positioning attitude of at least one following moving arm are determined.
  • the relative pose relationship of the plurality of motion arms is determined based on the type of surgery or the configuration of the sheath. It should be understood that the relative pose relationship may include the relative pose relationship of at least one of the following moving arm and the reference moving arm.
  • the positioning position and the positioning attitude may be the position and attitude, respectively, of the distal end (eg, the distal end arm or the distal end of the distal end arm) of the following moving arm 2 .
  • the positioning position and positioning attitude may be the position and attitude of the distal center of motion (RCM) of the follower arm 2, respectively.
  • the positioning position and positioning attitude may be the position and attitude of the connection point of the follower arm 2 for connecting with the sheath, respectively.
  • the position of the connection point may include a position within a preset distance from the sheath, and the preset distance here may include, but is not limited to, 10 cm.
  • the positioning attitude may be to follow the orientation in which the moving arm 2 is at the positioning position. Due to the different configurations of the sheath, each follower arm 2 has its corresponding positioning position and positioning posture.
  • the positioning posture (eg orientation) of each follower arm 2 at the positioning position may also be different.
  • the positioning position and the posture may also be the position and posture of the surgical instrument, respectively.
  • the configuration of the sheath can be determined based on the current surgical type to determine the relative pose relationship of the plurality of motion arms.
  • the current surgery type may be the type for which surgery is currently required.
  • the type of surgery may include, but is not limited to, general surgery, thoracic surgery, urological surgery, gynecological surgery, and the like.
  • the configuration of the sheath may include the type of sheath, such as the size and size of the sheath under different surgeons (the size and size may include, but are not limited to, for example, the length of the sheath, radial dimension, bore size , the number of sheath tubes, the relative positional relationship of multiple sheath tubes, etc.).
  • Each of the plurality of sheaths is associated with the relative pose relationship of at least one moving arm, and the relative pose relationship between the sheaths of different configurations and each moving arm may be different.
  • step 107 at least one follower arm is controlled to move to a positioning position and a positioning posture.
  • the reference moving arm 1 is in a reference position and a reference attitude
  • at least one following moving arm 2 is in a positioning position and positioning attitude, so that the reference moving arm 1 and the at least one following moving arm 2 can be connected to the sheath.
  • the sheath is located at the surgical port of the patient on the operating table, and the corresponding sheath can be selected for different types of operations.
  • the sheath may have a plurality of sheath tubes arranged at an angle, and the reference movement arm 1 and the at least one follower movement arm 2 may be connected to the plurality of sheath tubes of the sheath, respectively.
  • the sheath is used to extend into the patient, and the part of the sheath exposed outside the patient can be used to connect with the reference motion arm 1 and the at least one follower motion arm 2 .
  • the reference movement arm 1 and at least one follower movement arm 2 are provided with a surgical instrument 3, and the surgical instrument 3 (eg, a part of the arm body of the surgical instrument 3 and a terminal instrument disposed at the end of the arm body) is configured to be accessible for operation through a sheath area.
  • the surgical instrument on reference kinematic arm 1 may include endoscope 32
  • the surgical instrument on follower kinematic arm 2 may include surgical tool 31.
  • the reference kinematic arm 1 is removably attached to the endoscope 32 .
  • the endoscope 32 can enter the surgical operation area through the sheath tube of the sheath.
  • At least one following moving arm 2 is detachably connected to a surgical tool 31, and when each following moving arm 2 is in a corresponding positioning position and positioning posture, the surgical tool 31 on each following moving arm 2 can smoothly pass through the sheath tube of the sheath Enter the surgical operating area.
  • the positioning position and positioning attitude of the following moving arm 2 can be determined, which saves the preparation work before the operation and improves the operation efficiency.
  • the target position of the surgical instrument disposed on the moving arm entering the sheath is determined and target pose. It should be understood that when the sheath is set at the surgical port, the reference moving arm 1 is moved to the reference position and the reference posture, and the reference moving arm 1 (for example, through the connection point connected with the sheath) can be connected with the sheath (for example, one of the sheaths). tube) connection.
  • At least one following moving arm 2 is moved to the positioning position and positioning posture, and the at least one following moving arm 2 is connected to the sheath (eg, other sheaths) (eg, through a connection point connected to the sheath).
  • the position and posture of the endoscope 32 on the reference moving arm 1 or the surgical tool 31 on the following moving arm 2 entering the sheath can be determined. It should be understood that the distal end of the endoscope 32 may have partially extended into the sheath when mounted on the reference movement arm 1, but has not reached the surgical operation area.
  • the distal end of the endoscope 32 on the reference motion arm 1 can be controlled to enter the surgical operation area through the sheath based on the motion command, so as to determine the internal environment of the surgical operation area.
  • the target position and posture of the end of the endoscope 32 are determined.
  • the target position and posture of the surgical tool 31 disposed on the follower arm 2 entering the sheath can be determined, thereby controlling the surgical tool 31 Enter the target position and posture of the surgical operation area through the sheath.
  • the surgical tool 31 arranged on each follower arm 2 can be accurately moved, thereby speeding up the preoperative preparation and improving the work efficiency.
  • the at least one follower motion arm includes a plurality of follower motion arms
  • the method 100 may further include step 105 .
  • the movement sequence of the plurality of following moving arms is determined.
  • a sequence of movements of a plurality of following movement arms 2 may be determined based on the current surgical type. Based on the movement sequence, the plurality of following moving arms 2 are controlled to move to the positioning position and positioning posture.
  • the at least one follower movement arm 2 may include, but is not limited to, two, three, four or more follower movement arms.
  • the at least one following movement arm 2 may include a follow movement arm 2a, a follow movement arm 2b, and a follow movement arm 2c.
  • the order of movement of the at least one follower movement arm is determined based on the surgical instrument corresponding to the at least one follower movement arm. For example, a preset order of surgical instruments (eg, surgical tools 31a-31c) corresponding to the following movement arms 2a-2c may be determined based on the current surgical type.
  • the motion sequence of the following motion arms 2a-2c is determined.
  • follower movement arms 2a, 2b and 2c may be used to carry surgical tools 31a, 31b and 31c, respectively.
  • surgical tools 31a, 31b and 31c need to be used, and the order of use is surgical tool 31b-surgical tool 31a-surgical tool 31c. It should be understood that the order of use of the surgical tools can be used as the order of movement of the corresponding follower arm under the current surgical type.
  • the following moving arms 2a, 2b and 2c configured with the surgical tool 31a, the surgical tool 31b and the surgical tool 31c are respectively controlled to follow the corresponding moving arm 2b in the order of use of the surgical tool 31b-surgical tool 31a-surgical tool 31c , 2a and 2c move to the positioning pose in turn.
  • the movement sequence of the at least one following moving arm may also be determined based on the positional relationship between the at least one following moving arm and the reference moving arm.
  • the movement sequence of the at least one following moving arm 2 may be determined based on the initial positional relationship of the at least one following moving arm 2 with respect to the reference moving arm 1 .
  • the robotic system 10 may include a reference motion arm 1, and at least one follower motion arm 2 may include a follower motion arm 2a, a follower motion arm 2b, and a follower motion arm 2c.
  • the reference moving arm 1 is moved to the reference pose, based on the correspondence between the following moving arms 2a, 2b and 2c in the positions shown in FIG.
  • the following moving arm 2a or 2b is moved to the positioning pose, and then the following moving arm 2c that is far away from the reference moving arm 1 is moved to the positioning pose.
  • the following movement arm 2b may be moved to the positioning posture first, then the following movement arm 2c may be moved to the positioning posture, and finally the following movement arm 2a may be moved to the positioning posture.
  • the risk of collision between the moving arms may increase.
  • the following moving arm 2b Since the reference moving arm 1 and the following moving arm 2c are relatively close at the positioning pose, in the process of moving the following moving arm 2b to the positioning pose, the following moving arm 2b is easy to communicate with the following moving arm 1 and/or the following moving arm 2c collides. Therefore, the following moving arm 2b can be moved to the positioning pose first, then the following moving arm 2c can be moved to the positioning pose, and finally the following moving arm 2a can be moved to the positioning pose. It should be understood that the following moving arm 2b can also be moved to the positioning position first, then the following moving arm 2a can be moved to the positioning position, and finally the following moving arm 2c can be moved to the positioning position. Because, the following movement arm 2a and the following movement arm 2b are not closer in distance.
  • the principle of determining the motion sequence may be: first move the following motion arm that is close to the reference motion arm 1 at the reference pose to the positioning pose, and then move the follow motion arm that is far away from the reference motion arm 1 The arm moves to the positioning pose.
  • controlling at least one following moving arm 2 to move to the corresponding position in sequence based on the motion sequence can avoid the problem of low efficiency and poor movement accuracy caused by artificially moving the following moving arm 2, and can realize automatic and efficient movement of the following moving arm 2.
  • the method 100 may further include: detecting an abnormal condition occurring during the movement of the at least one following moving arm; and controlling the at least one following moving arm to stop moving or issuing an alarm message based on the abnormal condition.
  • the abnormal condition may include at least one of: an undesired relationship between at least two of the plurality of motion arms, at least one of the at least one follower motion arm exceeds a range of motion limit, or The sterile protective cover on at least one of the plurality of exercise arms comes off.
  • abnormal conditions may include, but are not limited to, an undesired relationship between at least one following moving arm 2 and/or between at least one following moving arm 2 and the reference moving arm 1 (eg collision), at least one following moving arm 2 Exceeded range of motion limit or at least one of the follower arm 2 and/or the reference arm 1 has a sterile protective cover detached.
  • an abnormal situation is detected during the movement of one of the following moving arms 2 to the positioning posture, such as a collision with other moving arms or the detachment of the sterile protective cover, the following movement in which the collision occurs can be controlled Arm 2 stops moving. To avoid damage to the follower arm.
  • an alarm message may be issued based on the abnormal situation.
  • alarm information may be displayed via a display screen.
  • the display screen can be arranged at any position on the operating trolley 4 , for example, it can be located at a bracket where the moving arms of the operating trolley 4 meet. It should be understood that the display screen can also be arranged in other places than the operating trolley 4 .
  • Alarm messages for abnormal situations can be displayed on this display. For example, when the protective cover on the exercising arm falls off, the alarm message of "The protective cover is off, please check the protective cover" can be displayed on the display screen.
  • alarm information is issued for the abnormal situation that occurs, and can also be output through other output modules of the operating trolley 4 (eg, a speaker, an alarm indicator, etc.).
  • a speaker e.g., a speaker, an alarm indicator, etc.
  • the alarm message of "The protective cover is off, please check the protective cover” can be displayed on the display screen.
  • the speaker may emit an alarm sound, an alarm indicator light flashes, and the like.
  • the user can check the alarm information in time and solve the problem in time, so as to prompt the user to understand various abnormal situations in the movement of the follower arm in real time, and ensure the smooth movement of the follower arm.
  • the display screen can also be used to display the process operation instructions during the movement of each follower arm 2 .
  • instruction information for moving each reference moving arm 1 to the reference position may be displayed on the display screen.
  • the display screen may also display instruction information for moving each of the following moving arms 2 to the positioning position, and the like.
  • FIG. 3 shows a flow diagram of a method 300 for determining the position and attitude of a kinematic arm in accordance with some embodiments of the present disclosure.
  • the method 300 may be performed by a control device for the robotic system 10 (eg, the control device 5 shown in FIG. 4 ), and may be implemented by software and/or hardware.
  • a control device for robotic system 10 may include a processor (e.g., processor 51 shown in FIG. 4 ) configured to perform method 300.
  • the method 300 can be used to implement, for example, step 103 shown in FIG. 1 , to determine the positioning position and positioning attitude of the at least one following moving arm.
  • the moving arm model can be preset.
  • the moving arm model may be a model configured based on the current surgical type or the configuration of the corresponding sheath, and may be used to define the relative pose relationship of the plurality of moving arms.
  • the current surgical type or the shape and structure of the corresponding sheath can be selected through the touch screen input module on the operating trolley 4 to determine the moving arm model.
  • the relative position and relative posture of the reference moving arm 1 and the at least one following moving arm 2 are associated with the type of procedure or the configuration of the corresponding sheath.
  • the moving arm model can be used to determine the relative position between the at least one follower moving arm 2 and the reference moving arm 1 in the current surgical type or the configuration of the corresponding sheath based on the current surgical type or the configuration of the corresponding sheath.
  • the pose relationship, and the relative pose relationship between the following motion arms 2 may also determine the order of use of the surgical tools 31 on the multiple following moving arms 2 based on the current surgical type or the configuration of the corresponding sheath, so as to determine the movement of the multiple following moving arms 2 order.
  • the predicted position and the predicted pose of the at least one following moving arm 2 are determined. For example, based on the reference position and reference attitude of the reference moving arm 1 and the relative pose relationship between the at least one following moving arm 2 and the reference moving arm 1 , the predicted position and the predicted attitude of the at least one following moving arm 2 are determined.
  • the predicted position may be the position of each following moving arm 2 predicted by the moving arm model based on the reference position of the reference moving arm 1 and the position correspondence between each following moving arm 2 and the reference moving arm 1 .
  • the predicted posture may be the posture of each following mobile arm 2 at the corresponding predicted position predicted by the mobile arm model based on the reference posture of the reference mobile arm 1 and the corresponding relationship between the postures of each following mobile arm 2 and the reference mobile arm 1 .
  • the movement of each following moving arm 2 can be simulated and controlled. It should be understood that the predicted positions and predicted postures of the following moving arms 2 may be different.
  • the simulated control may include determining, based on the predicted position and the predicted pose, whether the at least one follower kinematic arm is at a range of motion limit, between the at least one follower kinematic arm, and/or between the at least one follower kinematic arm and a reference kinematic arm whether it will lead to an undesired relationship.
  • the range of motion limits of the follower arm 2 may include the limits of motion of each of the plurality of joints of the at least one surgically positioned 2 arm.
  • the movement range limit of the following moving arm 2 may also include an operable range that the following moving arm 2 can achieve.
  • the operable range may include a preset range in which each following moving arm 2 will not collide with other following moving arms, reference moving arms or other obstacles at its position or its posture during the moving process. It will be appreciated that the undesired relationship may include a relationship between at least one follower movement arm 2 and/or with a collision between the at least one follower movement arm 2 and the reference movement arm 1 .
  • method 300 further includes step 307 .
  • step 307 in response to the simulated control failure, the predicted position and predicted pose of the at least one follower arm are adjusted to avoid range of motion limits or undesired relationships.
  • the predicted position may be adjusted based on the base distance adjustment unit, and the predicted pose may be adjusted based on the base angle adjustment unit.
  • the method 300 returns to step 305 to perform simulated control of the at least one follower arm based on the adjusted predicted position and predicted attitude.
  • adjusting the predicted position and predicted pose may be based on a base adjustment unit adjusting the predicted position and predicted pose.
  • the base adjustment unit may include a base distance adjustment unit and a base angle adjustment unit.
  • each adjustment can move the predicted position by 0.5 cm.
  • Adjust the predicted pose with the basic angle adjustment unit for example, each adjustment can rotate the predicted pose by 0.5°.
  • method 300 further includes step 309 .
  • step 309 in response to the simulation control being successful, the predicted position and predicted attitude of the at least one following moving arm are determined as the positioning position and positioning attitude of the at least one following moving arm.
  • each of the following moving arms 2 in response to the simulation control being successful, is controlled to move to the positioning position and positioning attitude based on the determined positioning position and positioning attitude.
  • each of the following moving arms 2 may be controlled to move to the positioning position and positioning posture based on the preset movement sequence of the plurality of following moving arms 2 relative to the reference moving arm 1 . In order to avoid the collision of the moving arm during the movement.
  • the moving arm before moving each following moving arm 2, the moving arm is simulated and controlled, and the positioning position and positioning posture of the following moving arm can be determined automatically, efficiently and accurately.
  • the simulated control failure adjust the predicted position and predicted posture of the follower arm 2.
  • move the following moving arms 2 to the positioning position and positioning posture which can avoid abnormal collisions between the following moving arms 2 or between the following moving arms 2 and the reference moving arm 1 during the actual moving process. In this case, damage to each of the following moving arms 2 can be avoided, and the cost can be saved.
  • FIG. 4 shows a simplified block diagram of robotic system 10 in accordance with some embodiments of the present disclosure.
  • the robotic system 10 may include a reference motion arm 1 , at least one follower motion arm 2 and a control device 5 .
  • the reference movement arm 1 and the at least one follower movement arm 2 are removably provided with surgical instruments, each of which is configured to be able to enter the operating area through a sheath.
  • the control device 5 may comprise at least one processor 51 and at least one memory 52 .
  • the control device 5 may further include an input device 53 and an output device 54 .
  • the processor 51, memory 52, input device 53, and output device 54 may be connected by a bus or otherwise.
  • the reference motion arm 1 may include a plurality of joints 11 and a sensor 12 connected to the plurality of joints 11 .
  • the at least one following movement arm 2 may comprise following movement arms 2a and 2b.
  • the following movement arm 2a may include a plurality of joints 21a and sensors 22a
  • the following movement arm 2b may include a plurality of joints 21b and sensors 22b.
  • a plurality of joints 21a and 21b may be coupled to at least one sensor 22a and 22b, respectively.
  • the plurality of joints (eg, joints 11, 21a, and 21b) may include motors to which sensors (eg, sensors 12, 22a, and 22b) are communicatively coupled.
  • Sensors may include, for example, encoders, potentiometers, or fiber optic sensors extending from the moving arm.
  • the sensor can be used to acquire data corresponding to multiple joints of the moving arm, so as to obtain the current pose data of the moving arm.
  • the current pose data may be position and pose data at any moment, such as initial pose data and pose data during movement.
  • At least one processor 51 may be communicatively connected to the sensors 12, 22a and 22b, eg via a cable connection or wireless connection, to obtain current pose data of the reference moving arm 1, the following moving arm 2a and the following moving arm 2b.
  • the processor 51 of the control device 5 may control the reference motion arm 1 (eg, the end arm of the reference motion arm 1 ) to move to a reference position and a reference attitude based on the received input command.
  • the sensor 12 may be used to acquire data of a plurality of joints 11 of the reference moving arm 1 to obtain pose data of the reference moving arm 1 , such as pose data at a reference position and a reference pose.
  • the processor 51 may be connected in communication with the sensor 12 of the reference motion arm 1 to obtain pose data of the reference motion arm 1 , such as pose data at a reference position and a reference pose.
  • Memory 52 is used to store multiple surgical types and corresponding sheath configurations, as well as multiple kinematic arm models.
  • the processor 51 can be connected in communication with the memory 52, and the processor 51 can determine the corresponding moving arm model based on the current surgical type or the configuration of the corresponding sheath, and determine the following moving arm 2a and the following moving arm 2b based on the moving arm model. Relative pose relationship with reference kinematic arm 1.
  • the processor 51 may determine the positioning positions and positioning attitudes of the following moving arms 2a and 2b based on the reference position and the reference attitude of the reference moving arm 1 and the relative pose relationship between the following moving arm 2a, the following moving arm 2b and the reference moving arm 1, And based on the determined positioning positions and positioning attitudes, the following moving arms 2a and 2b are controlled to move to corresponding positioning positions and positioning attitudes, respectively.
  • the processor 51 may also determine the movement order of the following moving arms 2a and 2b based on the current operation type, and control the following moving arms 2a and 2b to move to the positioning positions respectively based on the movement order of the following moving arms 2a and 2b and positioning attitude.
  • the sensors 22a, 22b can be used to obtain data of the multiple joints 21a, 21b of the following moving arms 2a, 2b respectively, so as to obtain the corresponding pose data of the following moving arms 2a, 2b, such as the position and attitude data of the positioning position and positioning attitude .
  • robotic system 10 may include, but is not limited to, one follower motion arm, two follower motion arms, three follower motion arms, four follower motion arms, or more follower motion arms. It should be understood that the relative pose relationship between the multiple following moving arms and the reference moving arm can be obtained through the control device 5 .
  • the memory 52 can be used as a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the moving arm control method in the embodiments of the present disclosure (which can be Referring to a plurality of modules in FIG. 5(a), such as a first control module, a pose determination module, a second control module, an alarm module, a third control module, a surgical instrument pose determination module, a fourth control module, etc.).
  • the processor 51 can execute various functional applications and data processing of the robot system by running the software programs or instructions and modules stored in the memory 52, so as to realize the above-mentioned control method.
  • the memory 52 may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function.
  • the storage data area can store data or the like created according to the use of the terminal.
  • memory 52 may include random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device.
  • the memory 52 may further include memory located remotely relative to the processor 51, and these remote memories may be connected to the robotic system through a network.
  • the above-mentioned network may include, but is not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the input device 53 may be used to receive input numerical information, character information, or pressing information, and generate key signal input related to user settings and function control of the robotic system.
  • the output device 54 may include display devices such as a display screen, indicator lights, and speakers.
  • FIG. 5(a) shows a simplified block diagram of a control device 50 of a robotic system according to some embodiments of the present disclosure.
  • the control device 50 may be implemented by hardware or software modules.
  • the control device 50 may include: a first control module 501 , a pose determination module 502 and a second control module 503 .
  • the first control module 501 may control the reference motion arm to move to the reference position and the reference pose based on the input command.
  • the pose determination module 502 may determine the positioning position and positioning pose of the at least one following moving arm based on the current surgical type or the configuration of the sheath, and the reference position and reference pose of the reference moving arm.
  • the second control module 503 may determine the movement sequence of the at least one following moving arm based on the current surgery type, and control the at least one following moving arm to move to the positioning position and positioning posture.
  • the pose determination module 502 may include a correspondence relationship determination unit 5021 , a predicted pose determination unit 5022 , a simulation control unit 5023 and a pose determination unit 5024 .
  • the correspondence determination unit 5021 may be configured to determine an expected correspondence of at least one following moving arm relative to the reference moving arm based on a preconfigured moving arm model, wherein the moving arm model is based on the current surgical type or the corresponding The configuration of the sheath is configured, and the kinematic arm model is used to define the expected correspondence of at least one follower kinematic arm relative to the reference kinematic arm.
  • the expected corresponding relationship may include the relative pose relationship between at least one following moving arm 2 and the reference moving arm 1 , as well as the relative pose relationship between each following moving arm 2 .
  • the predicted pose determination unit 5022 may be configured to determine the predicted position and Predict posture.
  • the simulation control unit 5023 is configured to perform simulation control on the at least one following moving arm based on the predicted position and the predicted posture.
  • the pose determination unit 5024 is configured to determine the predicted position and the predicted pose as the positioning position and positioning pose of at least one following moving arm when the simulation control is successful.
  • control device 50 may also include a stop movement control module.
  • the stop-movement control module may be configured to control the at least one following moving arm to stop moving when a collision is detected during the process of the at least one following moving arm moving to the positioning position or positioning posture.
  • Figure 5(b) shows a simplified block diagram of the analog control unit 5023 of the control device 50 of the robotic system according to some embodiments of the present disclosure.
  • the simulation control unit 5023 may include a first judgment subunit 5023a, a first simulation control subunit 5023b, a second judgment subunit 5023c, and a simulation success determination subunit 5023d.
  • the first judging subunit 5023a may be used to judge whether the following moving arm is within the motion range limit when moving to the predicted position and predicted posture.
  • the first simulation control subunit 5023b may simulate and control the following movement arm to move to the predicted position and the predicted posture in response to the following movement arm being within the motion range limit during the process of moving to the predicted position and the predicted posture.
  • the at least one follower motion arm includes a plurality of follower motion arms
  • the first simulation control subunit 5023b may further respond that the plurality of follower motion arms are within the motion range limit during the process of moving to the predicted position and the predicted attitude
  • the plurality of following moving arms are controlled to move to the predicted position and the predicted attitude based on the movement order of the plurality of following moving arms relative to the reference moving arm.
  • the second judging subunit 5023c may be used to judge whether a collision occurs between at least one following moving arm or between at least one following moving arm and a reference moving arm.
  • the simulation success determination subunit 5023d may be used to determine that the simulation control is successful when the following moving arms are within the limit of the motion range and at least one of the following moving arms does not collide with other moving arms.
  • the simulation control unit 5023 may further include a second simulation control sub-unit 5023e, which may respond to the movement of the at least one following moving arm to the predicted position and the predicted posture, not in the Within the operable range of at least one following moving arm, or between at least one following moving arm or between at least one following moving arm and a reference moving arm, the predicted position and predicted attitude are adjusted, and based on the adjusted predicted position and predicted attitude Perform analog control.
  • a basic adjustment unit may be used to adjust the predicted position and the predicted attitude, and perform analog control based on the adjusted predicted position and predicted attitude, wherein the basic adjustment unit may include a basic distance adjustment unit and a basic angle adjustment unit.
  • control device 50 may further include: an alarm module 504 , configured to send alarm information to abnormal conditions that occur during the movement of each moving arm; wherein the abnormal conditions Including at least one of: an undesired relationship (eg, a collision) between at least two of the plurality of moving arms, at least one of the at least one following moving arm exceeds a range of motion limit, or at least one of the plurality of moving arms
  • an undesired relationship eg, a collision
  • the robot system or control device provided by some embodiments of the present disclosure can execute the control method of the robot system provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.
  • control device 50 may further include a third control module 505 , a surgical instrument pose determination module 506 and a fourth control module 507 .
  • the third control module 505 may control the surgical instrument on the reference motion arm to enter the sheath to the target posture based on the reference position and reference posture of the reference motion arm and the corresponding position and posture of the sheath.
  • the surgical instrument pose determination module 506 may determine a surgical procedure on the at least one follower movement arm based on the target pose of the surgical instrument (eg, endoscope tip) on the reference movement arm, and the positioning position and positioning posture of the at least one follower movement arm The target pose at which an instrument (eg, a surgical tool) enters the sheath.
  • the fourth control module 507 may control the at least one surgical instrument on the following moving arm to move into the sheath to the target posture based on the target posture of the at least one following surgical instrument on the moving arm entering the sheath.
  • the present disclosure provides a computer-readable storage medium.
  • the storage medium may include at least one instruction executed by the processor to configure the processor to perform the control method in any of the above embodiments.
  • the present disclosure provides a computer system that can include a non-volatile storage medium and at least one processor.
  • the non-volatile storage medium may include at least one instruction.
  • the processor is configured to execute at least one instruction to configure the processor to perform the control method in any of the above embodiments.
  • the present disclosure also discloses the following:
  • a control method for a robotic system comprising:
  • the at least one following moving arm is controlled to move to the positioning position and positioning posture.
  • a relative pose relationship of the plurality of moving arms is determined, the relative pose relationship including the relative pose relationship of the at least one follower moving arm and the reference moving arm.
  • the plurality of following moving arms are controlled to move to the positioning position and positioning posture.
  • control method according to item 4 further comprising:
  • the movement sequence of the plurality of following moving arms is determined based on the surgical instruments corresponding to the plurality of following moving arms, or the positional relationship between the plurality of following moving arms and the reference moving arm.
  • the at least one follower motion arm is simulated controlled.
  • the at least one following kinematic arm is at a range of motion limit, between the at least one following kinematic arm and/or between the at least one following kinematic arm and the reference kinematic arm whether it will lead to an undesired relationship.
  • control method according to item 8 further comprising:
  • the predicted position and predicted pose of the at least one follower arm are adjusted to avoid the range of motion limit or the undesired relationship.
  • control method according to item 8 further comprising:
  • the predicted position and predicted attitude of the at least one following moving arm are determined as the positioning position and positioning attitude of the at least one following moving arm.
  • adjusting the predicted position and predicted posture of the at least one follower arm comprises:
  • the predicted pose is adjusted based on the base angle adjustment unit.
  • the range of motion limit comprising the limit of motion of each of the plurality of joints of the reference kinematic arm and the at least one follower kinematic arm, or the undesired relationship Including collisions.
  • the at least one following moving arm is controlled to stop moving or issue an alarm message.
  • the abnormal condition comprising at least one of: an undesired relationship between at least two of the plurality of moving arms, the at least one following the moving arm At least one of the movement range limits is exceeded, or the sterile protective cover on at least one of the plurality of movement arms falls off.
  • the robotic system further comprising a surgical instrument detachably connected to the plurality of moving arms, the reference position and reference attitude of the reference moving arms And the positioning position and positioning posture of the at least one follower arm are configured to be suitable for the surgical instrument to reach the surgical operation area through the sheath.
  • the positioning position and positioning attitude of the at least one follower movement arm are configured to be suitable for the at least one follower movement arm to connect with the sheath.
  • a robotic system comprising:
  • the plurality of motion arms including a reference motion arm and at least one follower motion arm;
  • control device configured to control the reference moving arm to move to a reference position and a reference attitude based on the received input information, based on the determined reference position and reference attitude and the relative pose relationship of the plurality of moving arms, The positioning position and positioning attitude of the at least one following moving arm are determined, and the at least one following moving arm is controlled to move to the positioning position and positioning attitude.
  • control means is further arranged to determine a sequence of movements of the at least one following kinematic arm, and based on the sequence of movements, control the at least one following kinematic arm to the Positioning position and positioning pose.
  • a computer-readable storage medium comprising at least one instruction executed by a processor to configure the processor to perform the control method of any of items 1-17 .
  • a computer system comprising:
  • non-volatile storage medium including at least one instruction
  • a processor configured to execute the at least one instruction to configure the processor to perform the control method of any of items 1-17.

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Abstract

一种用于控制机器人***的控制方法，其中，机器人***包括多个运动臂，多个运动臂包括参考运动臂和至少一个跟随运动臂；该控制方法包括：基于输入命令，控制参考运动臂移动到参考位置和参考姿态；基于参考运动臂的参考位置和参考姿态以及多个运动臂的相对位姿关系，确定至少一个跟随运动臂的定位位置和定位姿态；以及控制至少一个跟随运动臂移动至定位位置和定位姿态。该控制方法可以加快术前准备工作，且能及时提醒异常情况，提高工作效率。还公开了一种机器人***，以及一种包括至少一个指令的计算机可读存储介质。

Description

机器人***及其控制方法
相关申请的交叉引用
本申请要求于2020年8月19日提交的、申请号为2020108397289、发明名称为“手术机器人的控制方法、***、手术机器人***和介质”的中国专利申请的优先权，该申请的全文以引用方式整体结合于此。
技术领域
本公开涉及医疗器械领域，尤其涉及一种机器人***及其控制方法。
背景技术
腔镜微创手术相比于传统的开放手术，具有手术创伤小，术后恢复快，术后感染和并发症低，已被广泛应用。现有的腔镜手术机器人***，由运动臂搭载手术器械。根据不同的患者和手术术式，需要对运动臂在术前或术中进行调整定位，以使手术器械调整到手术指定位置。在手术时，由主刀医生采用遥操作模式，控制手术器械末端的手术执行器实现不同部位的外科手术。对于手术机器人***，体外运动臂在空间中的定位能力直接关系手术机器人能否施展多种手术术式。
目前，使用手术机器人实现手术过程主要包括术前定位、手术准备和术后整理三个过程。在术前定位和准备过程，手术助理(例如护士或医生)根据手术类型、手术位置，先调整至少一个运动臂到合适的位置和姿态，以便于至少一个运动臂能与鞘套连接，以使运动臂上的手术器械通过鞘套进入人体内需要手术的相应位置。术中通过遥操作控制手术器械从动于输入端命令以到达范围内的各种位置和角度，以实现各种操作动作。
目前的手术机器人在术前定位和准备过程，尤其针对手术机器人的内窥镜手术， 在手术准备过程，根据术式角度，调节运动臂的流程较复杂，且运动臂的调节具有一定的顺序规定，需要人为的将各运动臂移动到对应的位置处，效率低，且不够准确。手术准备过程，需要在手术机器人，例如运动臂上穿戴无菌保护套，以将靠近无菌侧的手术器械与有菌侧的运动臂隔离开，以保证手术的卫生安全。但在运动臂与鞘套连接过程中，时常会有因为各种原因导致的无菌保护套的细节部位的脱落拉扯等情况，此时若无提示，则容易造成手术过程中的手术污染。
发明内容
在一些实施例中，本公开提供了一种用于手术机器人***的控制方法，所述手术机器人***包括多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂，所述控制方法包括：基于输入命令，控制所述参考运动臂移动到参考位置和参考姿态；基于所述参考运动臂的参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态；以及控制所述至少一个跟随运动臂移动至所述定位位置和定位姿态。
在一些实施例中，本公开提供了一种机器人***，包括：多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂；以及控制装置，被设置成基于接收到的输入信息，控制所述参考运动臂运动至参考位置和参考姿态，基于确定的所述参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态，控制所述至少一个跟随运动臂运动至所述定位位置和定位姿态。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对本公开实施例描述中所需要使用的附图作简单的介绍。下面描述中的附图仅仅示出本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本公开实施例的内容和这些附图获得其他的实施例。
图1示出根据本公开一些实施例的机器人***的控制方法流程图；
图2示出根据本公开一些实施例的机器人***的结构示意图；
图3示出根据本公开一些实施例的另一机器人***的控制方法流程图；
图4示出根据本公开一些实施例的机器人***的简化框图；
图5(a)示出根据本公开一些实施例的另一机器人***的简化框图；
图5(b)示出图5(a)根据本公开一些实施例的机器人***的模拟控制单元的简化框图。
具体实施方式
为使本公开解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本公开实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本公开示例性实施例，而不是全部的实施例。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“耦合”应做广义理解，例如，可以是固定连 接，也可以是可拆卸连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连；可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。在本公开中，定义靠近操作者(例如医生)的一端为近端、近部或后端、后部，靠近手术患者的一端为远端、远部或前端、前部。本领域技术人员可以理解，本公开的实施例可以用于医疗器械或手术机器人，也可以用于其他非医疗装置。
在本公开中，术语“位置”指对象或对象的一部分在三维空间中的定位(例如，可使用笛卡尔X、Y和Z坐标方面的变化描述三个平移自由度，例如分别沿笛卡尔X轴、Y轴和Z轴的三个平移自由度)。在本公开中，术语“姿态”指对象或对象的一部分的旋转设置(例如，三个旋转自由度，可使用滚转、俯仰和偏转来描述这三个旋转自由度)。在本公开中，术语“位姿”指对象或对象的一部分的位置和姿态的组合，例如可使用以上提到的六个自由度中的六个参数来描述。在本公开中，运动臂或其一部分的位姿是指运动臂或其一部分定义的坐标系相对于运动臂所在的支架、基座定义的坐标系或世界坐标系的位姿。在本公开中，运动臂或其一部分的位置可由运动臂的关节的关节值的集合(例如由这些关节值组成的一维矩阵)来表示。在本公开中，关节的关节值可以包括相应关节相对于相应的关节轴所旋转的角度或者相对于初始位置移动的距离。
图1示出根据本公开一些实施例的机器人***的控制方法流程图100，图2示出根据本公开一些实施例的机器人***10的结构示意图。该方法100可以由用于机器人***10的控制装置(例如，图4所示的控制装置5)来执行，可以由软件和/或硬件来实现。例如，用于机器人***10的控制装置可以包括处理器(例如，图4所示的处理器51)，被配置为执行方法100。在一些实施例中，如图2所示，机器人***10可以包括多个运动臂，例如运动臂1以及运动臂2(例如，运动臂2a、2b和2c)。其中， 运动臂1可以作为参考运动臂，运动臂2可以作为跟随运动臂。应当理解，参考运动臂可以是用于辅助确定至少一个跟随运动臂的位置和姿态的运动臂，或者可以是至少一个跟随运动臂进行移动过程中所参考的运动臂。跟随运动臂可以包括基于参考运动臂的位置和姿态而确定其位置和姿态的运动臂，或者可以是基于参考运动臂进行移动的运动臂。跟随运动臂可以与参考运动臂的结构相同或不同。在一些实施例中，每一运动臂上都可以可拆卸地设置有手术器械3(例如手术工具或内窥镜)，并且每一手术器械3都被设置成能够通过鞘套进入操作区域。鞘套可以固定在患者的手术口(例如切口或自然开口)处，并且与运动臂连接。操作区域可以是进行手术的区域。例如，运动臂1可以与内窥镜32可拆卸地连接，并且运动臂2可以与手术工具3(例如手术工具31a、31b和31c)可拆卸地连接。在一些实施例中，机器人***10可以包括手术台车4，多个运动臂1和2可以设置在手术台车4上。手术器械3可以包括手术工具31和内窥镜32。手术工具31或内窥镜32可以包括驱动传动装置、臂体和末端装置。手术工具31的末端装置可以包括但不限于手术钳、电刀、电勾等。内窥镜32的末端装置可以包括但不限于成像装置或照明装置等。
应当理解，一些实施例可以适用于在手术前基于手术类型控制各运动臂进行移动的情况。例如，在移动运动臂前，图2中一个或多个运动臂处于储藏位。储藏位可以是运动臂在术前的预设初始位置。例如，在储藏位处，每个运动臂可处于收拢状态，以缩小其占据的空间。在一些实施例中，储藏为可被设置为运动臂姿态的零位。
由于手术需要在无菌环境中进行操作，因此，在术前，需对每个运动臂以及机器人***10的其他部件(例如手术台车4的主立柱等)，套上无菌保护套。因此，每个运动臂可以运动到保护套安装位。在从储藏位达到保护套安装位时，运动臂向远端伸展，各运动臂之间的间距打开，使运动臂远端基本与地面呈平行或略向下或略向上倾的姿态以方便穿戴保护套。在该位置处，根据无菌保护套的穿戴要求和流程进行保护 套的安装，以使各运动臂与无菌环境隔离，且设置在运动臂上的手术器械处于无菌环境。应当理解，在储藏位以及保护套安装位，多个运动臂上可以不设置手术器械。在保护套安装位，各运动臂处于较大的舒张伸展状态，以供用户为各运动臂穿戴无菌保护套，实现无菌环境和有菌环境的有效隔离。
在保护套安装完成后，可将各运动臂的伸展状态进行收拢，处于储藏位和保护套安装位之间的收拢位(例如，可以靠近储藏位以方便移动)。在收拢位，用户可以以收拢的状态将机器人***10(例如手术台车4)移动至手术台附近(此时病人可能已躺在手术台上)。
在手术台车4移动至手术台附近后，各运动臂可以处于调整位。在调整位，可以对各运动臂进行调整控制，以使各运动臂的位置和姿态调整至适于进行手术操作的位置和姿态。调整位可以包括收拢位以及运动臂调整过程中的多个过渡位。例如适于进行手术操作的位置和姿态可以指各运动臂能与鞘套连接的位置和姿态。在调整位，可以进行本公开实施例中的机器人***的控制方法，例如方法100。
如图1所示，在步骤101，基于输入命令，控制参考运动臂移动到参考位置和参考姿态。在一些实施例中，输入命令可以包括用户通过输入装置输入的命令或存储在非易失性存储介质上的指令。应当理解，输入命令可以包括参考运动臂的运动命令，基于运动命令可以命令参考运动臂运动。
在一些实施例中，机器人***10的控制装置可以包括输入装置。在一些实施例中，输入装置可以包括用户接口，例如键盘、触摸屏、按钮等。例如，用户可以按压与运动臂对应的按钮，以生成控制对应的运动臂运动的运动命令。基于运动命令，可使对应的运动臂运动。在运动臂运动至目标位置和目标姿态(例如参考位置和参考姿态)时，用户可以再次按压或者释放该运动臂对应的按钮，以生成停止命令，基于停止命令，使运动臂停止运动。用户接口可以包括“确认键”、“启停键”、“上一步”或 “下一步”等等功能。这些功能可以用于运动臂整体、单独控制，或者步骤流程状态的整体、单独控制。
在一些实施例中，输入装置还可以包括触摸屏，用户可以通过触摸屏触发各运动臂运动的操作，以生成使各运动臂运动的运动命令。应当理解，也可通过触摸屏的方式触发各运动臂停止运动的操作，以生成使各运动臂停止运动的停止指令。
在一些实施例中，输入装置还可以包括微调输入模块。微调输入模块可以设置于运动臂上和/或设置于与运动臂连接的手术器械上，用于单个运动臂的运动调节，以控制单个运动臂的关节姿态调整，以调整运动臂上的手术器械的姿态。微调输入装置可以包括按钮，用于运动臂的精细调整。
在一些实施例中，将手术台车4移动至手术台附近，用户可根据手术台车4上设置的指示灯来调整手术台车4(例如设置在手术台车4上的运动臂)与手术台的高度对应关系以及水平距离对应关系。在一些实施例中，指示灯例如可以包括手术台车4(例如主立柱)顶部向下射出的激光对齐灯。指示灯可以指示手术台4或手术台上的患者的手术口位置及操作高度，以及手术台车4与手术台或手术台上的患者的手术口的距离。用户可根据手术台或手术台上的患者的手术口位置及操作高度，以及手术台车4与手术台或手术台上的患者的手术口的距离，通过用户接口(例如按钮)产生输入命令(例如多个移动命令)，以调整手术台车4的高度以及平移手术台车4，以使指示灯与手术部位手术口处于对应位置。在一些实施例中，对应位置可以是指示灯可以覆盖手术口的位置，或者指示灯与手术口呈角度的位置，还可以是其他位置关系。
在一些实施例中，在手术台车4上的指示灯与手术部位手术口处于对应位置时，设置在手术台车4上的参考运动臂1可以运动至靠近手术口处的鞘套的位置，参考运动臂1可以处于参考位置和参考姿态。在一些实施例中，在手术台车4上的指示灯与手术部位手术口处于对应位置时，参考运动臂1也可以位于靠近参考位置和参考姿态 处。这样，用户还可以通过用户接口(例如按钮)输入参考运动臂的运动命令，进一步调整参考运动臂1的位姿，以使其运动至参考位置和参考姿态。
在一些实施例中，基于运动命令，移动机器人***10的参考运动臂1到参考位姿，参考位姿包括参考位置和参考姿态。在一些实施例中，参考运动臂1可以是用于辅助确定至少一个跟随运动臂2的位置和姿态的运动臂，可以是至少一个跟随运动臂2进行移动过程中所参考的运动臂。例如，参考运动臂1可以用于与内窥镜32可拆卸地连接。跟随运动臂2可以用于与手术工具可拆卸地连接。在一些实施例中，参考运动臂1设有内窥镜32，在参考位姿处，内窥镜32(例如臂体以及设置在臂体末端或远端的末端器械)可以顺利通过鞘套进入手术操作区域。在一些实施例中，参考位姿可以是参考运动臂1的末端(例如末端臂或者末端臂的远端)的位置和姿态。或者，参考位姿可以是参考运动臂1的远端运动中心(RCM)的位置和姿态。或者，参考位姿可以是参考运动臂1用于与鞘套连接的连接点(例如可以位于末端臂的末端)的位置和姿态。应当理解，连接点的位置可以包括距离鞘套预设距离范围内的位置处，预设距离可以包括但不限于是10cm等。参考姿态可以是参考运动臂1在参考位置处所处的取向。在一些实施例中，在参考运动臂1上设置有手术器械(例如内窥镜32)时，参考位姿还可以是手术器械的位置和姿态。
在步骤103，基于参考运动臂的参考位置和参考姿态以及多个运动臂的相对位姿关系，确定至少一个跟随运动臂的定位位置和定位姿态。在一些实施例中，基于手术类型或鞘套的构型，确定多个运动臂的相对位姿关系。应当理解，相对位姿关系可以包括至少一个跟随运动臂和参考运动臂的相对位姿关系。在一些实施例中，定位位置和定位姿态可以分别是跟随运动臂2的末端(例如末端臂或者末端臂的远端)的位置和姿态。或者定位位置和定位姿态可以分别是跟随运动臂2的远端运动中心(RCM)的位置和姿态。或者定位位置和定位姿态可以分别是跟随运动臂2用于与鞘套连接的 连接点的位置和姿态。应当理解，连接点的位置可以包括距离鞘套预设距离范围内的位置处，这里的预设距离可以包括但不限于是10cm等。定位姿态可以是跟随运动臂2在定位位置处所处的取向。由于鞘套的构型不同，每个跟随运动臂2均有其对应的定位位置和定位姿态。每个跟随运动臂2在定位位置处的定位姿态(例如取向)也可以不同。在一些实施例中，在跟随运动臂2上设置有手术器械(例如手术工具31)时，定位位置和姿态还可以分别是手术器械的位置和姿态。
在一些实施例中，可以基于当前手术类型，确定鞘套的构型，以确定多个运动臂的相对位姿关系。应当理解，当前手术类型可以是当前需进行手术的类型。例如，手术类型可以包括但不限于普外科手术、胸外科手术、泌尿外科手术、妇科手术等。在一些实施例中，鞘套的构型可以包括鞘套的类型，例如不同术士下的鞘套的规格和型号(规格和型号可以包括但不限于例如鞘套的长度、径向尺寸、孔径大小、鞘管数量、多个鞘管设置的相对位置关系等)。多个鞘套中的每个与至少一个运动臂的相对位姿关系相关联，不同构型的鞘套与每个运动臂的相对位姿关系可以不同。
在步骤107，控制至少一个跟随运动臂移动至定位位置和定位姿态。应当理解，参考运动臂1处于参考位置和参考姿态，至少一个跟随运动臂2处于定位位置和定位姿态，以使参考运动臂1和至少一个跟随运动臂2能与鞘套连接。鞘套处于手术台上的患者手术口处，对于不同手术类型，可以选择相应的鞘套。对于单孔手术，鞘套可以具有多个呈角度布置的鞘管，参考运动臂1和至少一个跟随运动臂2可以分别与鞘套的多个鞘管连接。在一些实施例中，鞘套的至少一部分用于伸入患者体内，鞘套暴露在患者体外的部分可以用于与参考运动臂1和至少一个跟随运动臂2连接。参考运动臂1和至少一个跟随运动臂2上设有手术器械3，手术器械3(例如手术器械3的臂体的一部分以及设置在臂体末端的末端器械)被设置成能通过鞘套进入操作区域。例如，参考运动臂1上的手术器械可以包括内窥镜32，跟随运动臂2上的手术器械可以 包括手术工具31。在一些实施例中，参考运动臂1可拆卸地连接内窥镜32。在参考运动臂1处于参考位置和参考姿态时，内窥镜32可以通过鞘套的鞘管进入手术操作区。至少一个跟随运动臂2可拆卸地连接手术工具31，在每个跟随运动臂2位于对应的定位位置和定位姿态时，每个跟随运动臂2上的手术工具31可以顺利通过鞘套的鞘管进入手术操作区域。
这样基于当前手术类型以及鞘套的构型，以及参考运动臂1的参考位置和参考姿态，可以确定跟随运动臂2的定位位置和定位姿态，节省了手术前的准备工作，提高了手术效率。
在一些实施例中，基于参考运动臂的参考位置和参考姿态、跟随运动臂的定位位置和定位姿态以及鞘套的位置和姿态，确定设置在运动臂上的手术器械进入鞘套的目标位置和目标姿态。应理解，在鞘套设置于手术口时，将参考运动臂1移动至参考位置和参考姿态，可以将参考运动臂1(例如通过与鞘套连接的连接点)与鞘套(例如其中一个鞘管)连接。至少一个跟随运动臂2移动至定位位置和定位姿态，将至少一个跟随运动臂2(例如通过与鞘套连接的连接点)与鞘套(例如另外一些鞘管)连接。从而可以确定参考运动臂1上的内窥镜32或跟随运动臂2上的手术工具31进入鞘套的位置和姿态。应理解，内窥镜32的末端可以在安装于参考运动臂1上时已部分伸入鞘套，但未达到手术操作区域。在一些实施例中，可以基于运动命令，控制参考运动臂1上的内窥镜32的末端通过鞘套进入手术操作区域，以确定手术操作区域的内部环境。通过调整内窥镜32的末端，以确定最佳手术位置视野，以确定内窥镜32末端的目标位置和姿态。基于内窥镜32(例如内窥镜32的末端)位于手术操作区域的目标位置和姿态，可以确定设置在跟随运动臂2上的手术工具31进入鞘套的目标位置和姿态，从而控制手术工具31通过鞘套进入手术操作区域的目标位置和姿态。可以实现精确移动各跟随运动臂2上配置的手术工具31，从而加快术前准备工作，提高工作效率。
在一些实施例中，可选地，至少一个跟随运动臂包括多个跟随运动臂，方法100还可以包括步骤105。在步骤105，确定多个跟随运动臂的运动次序。在一些实施例中，可以基于当前手术类型，确定多个跟随运动臂2的运动次序。基于运动次序，控制多个跟随运动臂2运动至定位位置和定位姿态。
在一些实施例中，至少一个跟随运动臂2可包括但不限于两个、三个、四个或更多个跟随运动臂。在一些实施例中，如图2所示，至少一个跟随运动臂2可以包括跟随运动臂2a、跟随运动臂2b和跟随运动臂2c。在一些实施例中，基于与至少一个跟随运动臂对应的手术器械，确定至少一个跟随运动臂的运动次序。例如，可以基于当前手术类型，确定与跟随运动臂2a-2c对应的手术器械(例如手术工具31a-31c)的预设顺序。基于手术工具31a-31c的预设顺序，确定跟随运动臂2a-2c的运动次序。例如，跟随运动臂2a、2b和2c可以分别用于搭载手术工具31a、31b和31c。以当前手术类型为腹部肿瘤切除手术为例，在后续手术时，需要用到手术工具31a、手术工具31b和手术工具31c，其使用顺序为手术工具31b-手术工具31a-手术工具31c。应理解，手术工具的使用顺序可作为对应跟随运动臂在当前手术类型下的运动次序。基于使用顺序，分别控制配置有手术工具31a、手术工具31b和手术工具31c的跟随运动臂2a、2b和2c按手术工具31b-手术工具31a-手术工具31c的使用顺序将对应的跟随运动臂2b、2a和2c依次移动至定位位姿处。
在一些实施例中，还可以基于与至少一个跟随运动臂与参考运动臂的位置关系，确定至少一个跟随运动臂的运动次序。例如，可以基于至少一个跟随运动臂2相对于参考运动臂1的初始位置关系，确定的至少一个跟随运动臂2的运动次序。例如，如图2所示，机器人***10可以包括参考运动臂1，至少一个跟随运动臂2可以包括跟随运动臂2a、跟随运动臂2b和跟随运动臂2c。在一些实施例中，将参考运动臂1移动至参考位姿处后，可以基于跟随运动臂2a、2b和2c在图2所示的位置的对应关系， 先将与参考运动臂1距离近的跟随运动臂2a或2b移动至定位位姿处，再将与参考运动臂1距离远的跟随运动臂2c移动至定位位姿处。例如，可以先移动跟随运动臂2b至定位位姿处，然后移动跟随运动臂2c至定位位姿处，最后移动跟随运动臂2a至定位位姿处。应理解，在将参考运动臂1移动到参考位姿处后，若先移动跟随运动臂2c，后移动随运动臂2b，可能会增加运动臂之间的碰撞风险。由于参考运动臂1和跟随运动臂2c在定位位姿处距离较近，在移动跟随运动臂2b至定位位姿的过程中，使得跟随运动臂2b易于与跟随运动臂1和/或跟随运动臂2c发生碰撞。因此，可以先将跟随运动臂2b移动至定位位姿处，然后移动跟随运动臂2c至定位位姿处，最后移动跟随运动臂2a至定位位姿处。应当理解，还可以先将跟随运动臂2b移动至定位位姿处，然后移动跟随运动臂2a至定位位置处，最后移动跟随运动臂2c至定位位置处。因为，跟随运动臂2a和跟随运动臂2b之间在距离上没有较靠近。应当理解，确定运动次序的原则可以为：先将与处于参考位姿处的参考运动臂1距离近的跟随运动臂移动至定位位姿处，然后再将与参考运动臂1距离远的跟随运动臂移动至定位位姿处。
这样，基于运动次序控制至少一个跟随运动臂2依次移动至对应位置处，可以避免人为移动跟随运动臂2，导致的效率低、且移动精准性差的问题，可以实现自动、高效的移动跟随运动臂2。
在一些实施例中，方法100还可以包括：检测至少一个跟随运动臂在运动过程中出现的异常情况；以及基于异常情况，控制至少一个跟随运动臂停止运动或者发出警报信息。在一些实施例中，异常情况可以包括下述中的至少一项：多个运动臂中的至少两个之间出现不期望的关系、至少一个跟随运动臂中的至少一个超出运动范围极限、或多个运动臂中的至少一个上的无菌保护套脱落。例如，异常情况可以包括但不限于至少一个跟随运动臂2之间和/或至少一个跟随运动臂2与参考运动臂1之间出现不期望的关系(例如发生碰撞)、至少一个跟随运动臂2超出运动范围极限或至少一个跟 随运动臂2和/或参考运动臂1上的无菌保护套脱落。在一些实施例中，在检测到其中一个跟随运动臂2在移动至定位位姿的过程中出现异常情况，例如与其他运动臂发生碰撞或无菌保护套脱落，可控制发生碰撞的该跟随运动臂2停止移动。以避免造成跟随运动臂的损坏。
在一些实施例中，在检测到其中一个跟随运动臂2在移动至定位位姿的过程中出现异常情况，基于出现的异常情况，可以发出警报信息。在一些实施例中，警报信息可以通过显示屏显示。显示屏可以设置在手术台车4上的任意位置处，例如，可以位于手术台车4的各运动臂的交汇的支架处。应当理解，显示屏还可以设置在除手术台车4的其他地方。在该显示屏上可以显示异常情况的报警信息。例如，当运动臂上的保护罩脱落时，显示屏上可以显示“保护罩脱落，请检查保护罩”的报警信息。
在一些实施例中，对出现的异常情况发出报警信息，还可通过手术台车4的其他输出模块(例如音箱、报警指示灯等)来输出。例如，当运动臂上的保护罩脱落时，显示屏上可以显示“保护罩脱落，请检查保护罩”的报警信息。或者，音箱可以发出报警声、报警指示灯闪烁等。根据报警信息，用户可及时查看报警信息，及时解决问题，这样以便于提示用户实时了解跟随运动臂运动过程中的各种异常情况，保证跟随运动臂的顺利移动。
应当理解，显示屏还可以用于显示各跟随运动臂2移动过程中的流程操作指示。例如，在手术台车4移动至靠近手术台的位置时，显示屏上可显示移动各参考运动臂1移动至参考位置的指示信息。当各跟随运动臂2以定位姿态处于定位位置处后，显示屏上还可以显示将各跟随运动臂2移动至定位位置处的指示信息等等。
图3示出根据本公开一些实施例用于确定运动臂的位置和姿态的方法300的流程图。该方法300可以由用于机器人***10的控制装置(例如，图4所示的控制装置5)来执行，可以由软件和/或硬件来实现。例如，用于机器人***10的控制装置可以包 括处理器(例如，图4所示的处理器51)，被配置为执行方法300。方法300可以用于实现例如图1所示的步骤103，以确定至少一个跟随运动臂的定位位置和定位姿态。
如图3所示，在步骤301，基于运动臂模型，确定至少一个跟随运动臂与参考运动臂的相对位姿关系。应当理解，运动臂模型可以预先设置。在一些实施例中，运动臂模型可以是基于当前手术类型或对应的鞘套的构型来配置的模型，可以用于限定多个运动臂的相对位姿关系。在一些实施例中，可以通过手术台车4上的触屏输入模块，选择当前手术类型或对应的鞘套的形状和结构，以确定运动臂模型。应理解，参考运动臂1和至少一个跟随运动臂2的相对位置和相对姿态与手术类型或对应的鞘套的构型相关联。运动臂模型可以用于基于当前手术类型或对应的鞘套的构型，确定在当前手术类型或对应的鞘套的构型中，至少一个跟随运动臂2与参考运动臂1之间的相对位姿关系，以及各跟随运动臂2之间的相对位姿关系。在一些实施例中，运动臂模型还可以基于当前手术类型或对应的鞘套的构型，确定多个跟随运动臂2上的手术工具31的使用顺序，以确定多个跟随运动臂2的运动次序。
在步骤303，基于参考运动臂的参考位姿以及至少一个跟随运动臂与参考运动臂的相对位姿关系，确定至少一个跟随运动臂2的预测位置和预测姿态。例如，基于参考运动臂1的参考位置和参考姿态以及至少一个跟随运动臂2与参考运动臂1的相对位姿关系，确定至少一个跟随运动臂2的预测位置和预测姿态。在一些实施例中，预测位置可以是运动臂模型基于参考运动臂1的参考位置，以及各跟随运动臂2与参考运动臂1的位置对应关系，所预测的各跟随运动臂2的位置。预测姿态可以是运动臂模型基于参考运动臂1的参考姿态，以及各跟随运动臂2与参考运动臂1的姿态对应关系，所预测的各跟随运动臂2在对应预测位置的姿态。
在步骤305，基于预测位置和预测姿态，对至少一个跟随运动臂进行模拟控制。示例性的，可以基于至少一个跟随运动臂2的预测位置和预测姿态，模拟控制各跟随 运动臂2移动。应当理解，各跟随运动臂2的预测位置和预测姿态可以不同。在一些实施例中，模拟控制可以包括基于预测位置和预测姿态，确定至少一个跟随运动臂是否处于运动范围极限、至少一个跟随运动臂之间和/或至少一个跟随运动臂与参考运动臂之间是否会导致不期望的关系。在一些实施例中，跟随运动臂2的运动范围极限可以包括至少一个手术定位2臂的多个关节中的每个关节运动极限。在一些实施例中，跟随运动臂2的运动范围极限还可以包括跟随运动臂2能实现的可操作范围。可操作范围可以包括各跟随运动臂2在移动过程中，所处位置或以其所处姿态不会与其他跟随运动臂、参考运动臂或其他障碍物发生碰撞的预设范围。应当理解，不期望的关系可以包括至少一个跟随运动臂2之间和/或与至少一个跟随运动臂2与参考运动臂1之间发生碰撞的关系。响应于跟随运动臂2在移动至预测位置和预测姿态时，处于运动范围极限，以及至少一个跟随运动臂2之间和至少一个跟随运动臂2与参考运动臂1之间不会导致不期望的关系，确定模拟控制成功，否则确定模拟控制失败。
在一些实施例中，方法300还包括步骤307。在步骤307，响应于模拟控制失败，调整至少一个跟随运动臂的预测位置和预测姿态，以避免运动范围极限或不期望的关系。在一些实施例中，可以基于基础距离调节单元，调整预测位置，以及基于基础角度调节单元，调整预测姿态。方法300返回步骤305，基于调整后的预测位置和预测姿态，对至少一个跟随运动臂进行模拟控制。
在一些实施例中，调整预测位置和预测姿态可以是基于基础调节单元调整预测位置和预测姿态。基础调节单元可以包括基础距离调节单元和基础角度调节单元。示例性的，响应于跟随运动臂2在移动至预测位置或预测姿态时，不处于可操作范围内，或在至少一个跟随运动臂2之间和/或至少一个跟随运动臂2与参考运动臂1之间发生碰撞，以基础调节单元对预测位置或姿态进行调整。例如，每次调整可以将预测位置移动0.5厘米。以基础角度调节单元对预测姿态进行调整，例如，每次调整可以将预 测姿态旋转0.5°。直至调整后的预测位置和预测姿态，在当前跟随运动臂的可操作范围内，且不与任一其他跟随运动臂或参考运动臂发生碰撞，则模拟调整完成，模拟控制成功。
在一些实施例中，方法300还包括步骤309。在步骤309，响应于模拟控制成功，将至少一个跟随运动臂的预测位置和预测姿态确定为至少一个跟随运动臂的定位位置和定位姿态。在一些实施例中，响应于模拟控制成功，基于确定的定位位置和定位姿态，控制各跟随运动臂2移动至定位位置和定位姿态。在一些实施例中，可以基于预先设置的多个跟随运动臂2相对于参考运动臂1的运动次序，控制各跟随运动臂2移动至定位位置和定位姿态。以避免运动臂在移动过程中发生碰撞。
这样，在移动各跟随运动臂2前，对运动臂进行模拟控制，可自动、高效、准确地确定跟随运动臂的定位位置和定位姿态。基于模拟控制失败，调整跟随运动臂2的预测位置和预测姿态。基于模拟控制成功，再移动各跟随运动臂2至定位位置和定位姿态，可避免在实际移动过程中，各跟随运动臂2之间或各跟随运动臂2与参考运动臂1之间出现碰撞等异常情况，可以避免对各跟随运动臂2造成损伤，节省了成本。
图4示出根据本公开一些实施例的机器人***10的简化框图。如图4所示，机器人***10可以包括参考运动臂1、至少一个跟随运动臂2和控制装置5。在一些实施例中，参考运动臂1和至少一个跟随运动臂2上可拆卸地设置有手术器械，每个手术器械被设置成能够通过鞘套进入操作区域。控制装置5可以包括至少一个处理器51和至少一个存储器52。如图4所示，在一些实施例中，控制装置5还可以包括输入装置53和输出装置54。处理器51、存储器52、输入装置53和输出装置54可以通过总线或其他方式连接。
参考运动臂1可以包括多个关节11和与多个关节11连接的传感器12。至少一个跟随运动臂2可以包括跟随运动臂2a和2b。跟随运动臂2a可以包括多个关节21a和 传感器22a，跟随运动臂2b可以包括多个关节21b和传感器22b。多个关节21a和21b可以分别与至少一个传感器22a和22b耦合。在一些实施例中，多个关节(例如关节11、21a和21b)可以包括电机，传感器(例如传感器12、22a和22b)与电机通信连接。传感器可以包括例如编码器、电位计或延伸设置在运动臂上的光纤传感器。传感器可以用于获取对应运动臂的多个关节的数据，以得到运动臂的当前位姿数据。应当理解，当前位姿数据可以是任一时刻的位置和姿态数据，例如初始位姿以及运动过程中的位姿数据。
至少一个处理器51可以与传感器12、22a和22b通信连接，例如通过线缆连接或无线连接，以获取参考运动臂1、跟随运动臂2a和跟随运动臂2b的当前位姿数据。在一些实施例中，控制装置5的处理器51可以基于接收到的输入命令，控制参考运动臂1(例如参考运动臂1的末端臂)移动至参考位置和参考姿态。传感器12可以用于获取参考运动臂1的多个关节11的数据，以得到参考运动臂1的位姿数据，例如在参考位置和参考姿态处的位姿数据。处理器51可以与参考运动臂1的传感器12通信连接，以获取参考运动臂1的位姿数据，例如在参考位置和参考姿态处的位姿数据。
存储器52用于存储多个手术类型和对应的鞘套的构型，以及多个运动臂模型。处理器51可以和存储器52通信连接，处理器51可以基于当前手术类型或对应的鞘套的构型，确定对应的运动臂模型，并基于运动臂模型，确定跟随运动臂2a、跟随运动臂2b与参考运动臂1的相对位姿关系。处理器51可以基于参考运动臂1的参考位置和参考姿态以及跟随运动臂2a、跟随运动臂2b与参考运动臂1的相对位姿关系，确定跟随运动臂2a和2b的定位位置和定位姿态，并基于确定的定位位置和定位姿态控制跟随运动臂2a和2b分别移动至对应的定位位置和定位姿态。在一些实施例中，处理器51还可以基于当前手术类型，确定跟随运动臂2a和2b的运动次序，基于跟随运动臂2a和2b的运动次序，控制跟随运动臂2a和2b分别移动至定位位置和定位姿态。 传感器22a、22b可以用于分别获取跟随运动臂2a、2b的多个关节21a、21b的数据，以得到跟随运动臂2a、2b在对应的位姿数据，例如定位位置和定位姿态的位姿数据。
在一些实施例中，机器人***10可以包括，但不限于，一个跟随运动臂、两个跟随运动臂、三个跟随运动臂、四个跟随运动臂或更多个跟随运动臂。应当理解，可以通过控制装置5，得到多个跟随运动臂与参考运动臂的相对位姿关系。
在一些实施例中，存储器52可以作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本公开实施例中的运动臂控制方法对应的程序指令/模块(可参考图5(a)中的多个模块，例如第一控制模块、位姿确定模块、第二控制模块、报警模块、第三控制模块、手术器械位姿确定模块、第四控制模块等)。处理器51可以通过运行存储在存储器52中的软件程序或指令以及模块，执行机器人***的各种功能应用以及数据处理，以实现上述的控制方法。
在一些实施例中，存储器52可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序。存储数据区可存储根据终端的使用所创建的数据等。此外，存储器52可以包括随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器52可进一步包括相对于处理器51远程设置的存储器，这些远程存储器可以通过网络连接至机器人***。上述网络可以包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
在一些实施例中，输入装置53可用于接收输入的数字信息、字符信息、或按压信息，以及产生与机器人***的用户设置以及功能控制有关的键信号输入。输出装置54可包括显示屏、指示灯和音箱等显示设备。
图5(a)示出根据本公开一些实施例的机器人***的控制装置50的简化框图。控制装置50可以由硬件或软件模块实现。如图5(a)所示，控制装置50可以包括： 第一控制模块501、位姿确定模块502和第二控制模块503。
在一些实施例中，第一控制模块501可以基于输入命令控制参考运动臂移动至参考位置和参考姿态。位姿确定模块502可以基于当前手术类型或鞘套的构型，以及参考运动臂的参考位置和参考姿态，确定至少一个跟随运动臂的定位位置和定位姿态。第二控制模块503可以基于当前手术类型，确定至少一个跟随运动臂的运动次序，并控制至少一个跟随运动臂移动至定位位置和定位姿态。
在一些实施例中，如图5(a)所示，位姿确定模块502可以包括对应关系确定单元5021、预测位姿确定单元5022、模拟控制单元5023和位姿确定单元5024。
在一些实施例中，对应关系确定单元5021可以用于基于预先配置的运动臂模型，确定至少一个跟随运动臂相对于参考运动臂预期达到的对应关系，其中运动臂模型是基于当前手术类型或对应的鞘套的构型来配置的，并且运动臂模型用于限定至少一个跟随运动臂相对于参考运动臂的预期达到的对应关系。应理解，预期达到的对应关系可以包括至少一个跟随运动臂2与参考运动臂1之间的相对位姿关系，以及各跟随运动臂2之间的相对位姿关系。
在一些实施例中，预测位姿确定单元5022可以用于基于参考运动臂的参考位置和参考姿态以及至少一个跟随运动臂相对于参考运动臂预期达到的对应关系，确定跟随运动臂的预测位置和预测姿态。模拟控制单元5023，用于基于预测位置和预测姿态对至少一个跟随运动臂进行模拟控制。位姿确定单元5024，用于在模拟控制成功的情况下，将预测位置和预测姿态确定为至少一个跟随运动臂的定位位置和定位姿态。
在一些实施例中，控制装置50还可以包括停止移动控制模块。停止移动控制模块可以用于在检测到至少一个跟随运动臂移动至定位位置或定位姿态的过程中出现碰撞时，控制至少一个跟随运动臂停止移动。
图5(b)示出根据本公开一些实施例的机器人***的控制装置50的模拟控制单 元5023的简化框图。在一些实施例中，如图5(b)所示，模拟控制单元5023可以包括第一判断子单元5023a、第一模拟控制子单元5023b、第二判断子单元5023c和模拟成功确定子单元5023d。
在一些实施例中，第一判断子单元5023a可以用于判断跟随运动臂在移动至预测位置和预测姿态时是否处于运动范围极限内。第一模拟控制子单元5023b可以响应于跟随运动臂在移动至预测位置和预测姿态的过程处于运动范围极限内，模拟控制跟随运动臂移动至预测位置和预测姿态。在一些实施例中，至少一个跟随运动臂包括多个跟随运动臂，第一模拟控制子单元5023b还可以响应于多个跟随运动臂在移动至预测位置和预测姿态的过程处于运动范围极限内，基于多个跟随运动臂相对于参考运动臂的运动次序，控制多个跟随运动臂移动至预测位置和预测姿态。第二判断子单元5023c可以用于判断至少一个跟随运动臂之间或至少一个跟随运动臂与参考运动臂之间是否发生碰撞。模拟成功确定子单元5023d可以用于在跟随运动臂处于运动范围极限内，且至少一个跟随运动臂没有与其他运动臂发生碰撞的情况下，确定模拟控制成功。
在一些实施例中，如图5(b)所示，模拟控制单元5023还可以包括第二模拟控制子单元5023e，可以响应于至少一个跟随运动臂在移动至预测位置和预测姿态时，不处于至少一个跟随运动臂的可操作范围内，或至少一个跟随运动臂之间或至少一个跟随运动臂与参考运动臂之间发生碰撞，调整预测位置和预测姿态，并基于调整后的预测位置和预测姿态进行模拟控制。在一些实施例中，可以利用基础调节单元调整预测位置和预测姿态，基于调整后的预测位置和预测姿态进行模拟控制，其中，基础调节单元可以包括基础距离调节单元和基础角度调节单元。
在一些实施例中，如图5(a)所示，控制装置50还可以包括：报警模块504，用于在各运动臂的移动过程中，对出现的异常情况发出报警信息；其中，异常情况包括下述一至少项：多个运动臂中的至少两个之间出现不期望的关系(例如碰撞)、至少 一个跟随运动臂中的至少一个超出运动范围极限、或多个运动臂中的至少一个上的无菌保护套脱落。
应当理解，本公开的一些实施例所提供的机器人***或控制装置可执行本公开任意实施例所提供的机器人***的控制方法，具备执行方法相应的功能模块和有益效果。
在一些实施例中，如图5(a)所示，控制装置50还可以包括第三控制模块505、手术器械位姿确定模块506和第四控制模块507。在一些实施例中，第三控制模块505可以基于参考运动臂的参考位置和参考姿态以及鞘套的相应位置和姿态，控制参考运动臂上的手术器械进入鞘套至目标位姿。手术器械位姿确定模块506可以基于参考运动臂上的手术器械(例如内窥镜末端)的目标位姿，以及至少一个跟随运动臂的定位位置和定位姿态，确定至少一个跟随运动臂上的手术器械(例如手术工具)进入鞘套的目标位姿。第四控制模块507可以基于至少一个跟随运动臂上的手术器械进入鞘套的目标位姿，控制至少一个跟随运动臂上的手术器械移动进入鞘套至目标位姿。
在一些实施例中，本公开提供了一种计算机可读存储介质。存储介质可以包括至少一个指令，至少一个指令由处理器执行以将处理器配置为执行以上任何实施例中的控制方法。
在一些实施例中，本公开提供了一种计算机***，可以包括非易失性存储介质和至少一个处理器。非易失性存储介质可以包括至少一个指令。处理器被配置为执行至少一个指令以将处理器配置为执行以上任何实施例中的控制方法。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本公开可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory, RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。
本公开还公开了以下：
1.一种用于机器人***的控制方法，所述机器人***包括多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂，所述控制方法包括：
基于输入命令，控制所述参考运动臂移动到参考位置和参考姿态；
基于所述参考运动臂的参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态；以及
控制所述至少一个跟随运动臂移动至所述定位位置和定位姿态。
2.根据第1项所述的控制方法，还包括：
基于手术类型或鞘套的构型，确定所述多个运动臂的相对位姿关系，所述相对位姿关系包括所述至少一个跟随运动臂和所述参考运动臂的相对位姿关系。
3.根据第1-2项中任一项所述的控制方法，所述输入命令包括由用户通过输入装置输入的命令或存储在非易失性存储介质上的指令。
4.根据第1-3项中任一项所述的控制方法，所述至少一个跟随运动臂包括多个跟随运动臂，所述方法还包括：
确定所述多个跟随运动臂的运动次序；以及
基于所述运动次序，控制所述多个跟随运动臂运动至所述定位位置和定位姿态。
5.根据第4项所述的控制方法，还包括：
基于与所述多个跟随运动臂对应的手术器械、或者所述多个跟随运动臂与所述参考运动臂的位置关系，确定所述多个跟随运动臂的运动次序。
6.根据第1-5项中任一项所述的控制方法，所述多个运动臂的位置和姿态包括以下中的一种：
运动臂的末端臂的位置和姿态；
运动臂的远端运动中心(RCM)的位置和姿态；或
运动臂上用于与鞘套连接的末端的位置和姿态。
7.根据第1-6项中任一项所述的控制方法，还包括：
基于所述相对位姿关系，确定所述至少一个跟随运动臂的预测位置和预测姿态；以及
基于所述预测位置和预测姿态，对所述至少一个跟随运动臂进行模拟控制。
8.根据第7项所述的控制方法，基于所述预测位置和预测姿态，对所述至少一个跟随运动臂进行模拟控制包括：
基于所述预测位置和预测姿态，确定所述至少一个跟随运动臂是否处于运动范围极限、所述至少一个跟随运动臂之间和/或所述至少一个跟随运动臂与所述参考运动臂之间是否会导致不期望的关系。
9.根据第8项所述的控制方法，还包括：
响应于模拟控制失败，调整所述至少一个跟随运动臂的所述预测位置和预测姿态，以避免所述运动范围极限或所述不期望的关系。
10.根据第8项所述的控制方法，还包括：
响应于模拟控制成功，将所述至少一个跟随运动臂的预测位置和预测姿态确定为所述至少一个跟随运动臂的定位位置和定位姿态。
11.根据第9项所述的控制方法，调整所述至少一个跟随运动臂的预测位置和预测姿态包括：
基于基础距离调节单元，调整所述预测位置；以及
基于基础角度调节单元，调整所述预测姿态。
12.根据第8项所述的控制方法，所述运动范围极限包括所述参考运动臂和所述 至少一个跟随运动臂的多个关节中的每个关节运动极限，或者所述不期望的关系包括碰撞。
13.根据第1-12项中任一项所述的控制方法，还包括：
检测所述至少一个跟随运动臂在运动过程中出现的异常情况；以及
基于所述异常情况，控制所述至少一个跟随运动臂停止运动或者发出警报信息。
14.根据第13项所述的控制方法，所述异常情况包括以下中的至少一项：所述多个运动臂中的至少两个之间出现不期望的关系、所述至少一个跟随运动臂中的至少一个超出运动范围极限、或所述多个运动臂中的至少一个上的无菌保护套脱落。
15.根据第1-14项中任一项所述的控制方法，所述机器人***还包括与所述多个运动臂可拆卸地连接的手术器械，所述参考运动臂的参考位置和参考姿态以及所述至少一个跟随运动臂的定位位置和定位姿态被配置为适于所述手术器械通过鞘套到达手术操作区域。
16.根据第15项所述的控制方法，基于所述参考运动臂的所述参考位置和参考姿态、所述跟随运动臂的所述定位位置和定位姿态以及所述鞘套的位置和姿态，确定所述手术器械进入鞘套的目标位置和目标姿态。
17.根据第1-16项中任一项所述的控制方法，所述参考运动臂的参考位置和参考姿态被配置为适于所述参考运动臂与鞘套连接；以及
所述至少一个跟随运动臂的定位位置和定位姿态被配置为适于所述至少一个跟随运动臂与所述鞘套连接。
18.一种机器人***，包括：
多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂；以及
控制装置，被设置成基于接收到的输入信息，控制所述参考运动臂运动至参考位置和参考姿态，基于确定的所述参考位置和参考姿态以及所述多个运动臂的相对位姿 关系，确定所述至少一个跟随运动臂的定位位置和定位姿态，控制所述至少一个跟随运动臂运动至所述定位位置和定位姿态。
19.根据第18项所述的机器人***，所述控制装置还被设置成确定所述至少一个跟随运动臂的运动次序，并且基于所述运动次序，控制所述至少一个跟随运动臂至所述定位位置和定位姿态。
20.一种计算机可读存储介质，所述存储介质包括至少一个指令，所述至少一个指令由处理器执行以将处理器配置为执行如第1-17项中任一项所述的控制方法。
21.一种计算机***，包括：
非易失性存储介质，包括至少一个指令；以及
处理器，被配置为执行所述至少一个指令以将所述处理器配置为执行如第1-17项中任一项所述的控制方法。
注意，上述仅为本公开的示例性实施例及所运用技术原理。本领域技术人员会理解，本公开不限于这里的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本公开的保护范围。因此，虽然通过以上实施例对本公开进行了较为详细的说明，但是本公开不仅仅限于以上实施例，在不脱离本公开构思的情况下，还可以包括更多其他等效实施例，而本公开的范围由所附的权利要求范围决定。

Claims (20)

  1. 一种用于机器人***的控制方法，所述机器人***包括多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂，所述控制方法包括：
    基于输入命令，控制所述参考运动臂移动到参考位置和参考姿态；
    基于所述参考运动臂的参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态；以及
    控制所述至少一个跟随运动臂移动至所述定位位置和定位姿态。
  2. 根据权利要求1所述的控制方法，其特征在于，还包括：
    基于手术类型或鞘套的构型，确定所述多个运动臂的相对位姿关系，所述相对位姿关系包括所述至少一个跟随运动臂和所述参考运动臂的相对位姿关系。
  3. 根据权利要求1所述的控制方法，其特征在于，所述输入命令包括由用户通过输入装置输入的命令或存储在非易失性存储介质上的指令。
  4. 根据权利要求1所述的控制方法，其特征在于，所述至少一个跟随运动臂包括多个跟随运动臂，所述方法还包括：
    确定所述多个跟随运动臂的运动次序；以及
    基于所述运动次序，控制所述多个跟随运动臂运动至所述定位位置和定位姿态。
  5. 根据权利要求4所述的控制方法，其特征在于，还包括：
    基于与所述多个跟随运动臂对应的手术器械、或者所述多个跟随运动臂与所述参考运动臂的位置关系，确定所述多个跟随运动臂的运动次序。
  6. 根据权利要求1所述的控制方法，其特征在于，所述多个运动臂的位置和姿态包括以下中的一种：
    运动臂的末端臂的位置和姿态；
    运动臂的远端运动中心(RCM)的位置和姿态；或
    运动臂上用于与鞘套连接的末端的位置和姿态。
  7. 根据权利要求1所述的控制方法，其特征在于，还包括：
    基于所述相对位姿关系，确定所述至少一个跟随运动臂的预测位置和预测姿态；以及
    基于所述预测位置和预测姿态，对所述至少一个跟随运动臂进行模拟控制。
  8. 根据权利要求7所述的控制方法，其特征在于，基于所述预测位置和预测姿态，对所述至少一个跟随运动臂进行模拟控制包括：
    基于所述预测位置和预测姿态，确定所述至少一个跟随运动臂是否处于运动范围极限、所述至少一个跟随运动臂之间和/或所述至少一个跟随运动臂与所述参考运动臂之间是否会导致不期望的关系。
  9. 根据权利要求8所述的控制方法，其特征在于，还包括：
    响应于模拟控制失败，调整所述至少一个跟随运动臂的所述预测位置和预测姿态，以避免所述运动范围极限或所述不期望的关系。
  10. 根据权利要求8所述的控制方法，其特征在于，还包括：
    响应于模拟控制成功，将所述至少一个跟随运动臂的预测位置和预测姿态确定为所述至少一个跟随运动臂的定位位置和定位姿态。
  11. 根据权利要求9所述的控制方法，其特征在于，调整所述至少一个跟随运动臂的预测位置和预测姿态包括：
    基于基础距离调节单元，调整所述预测位置；以及
    基于基础角度调节单元，调整所述预测姿态。
  12. 根据权利要求8所述的控制方法，其特征在于，所述运动范围极限包括所述参考运动臂和所述至少一个跟随运动臂的多个关节中的每个关节运动极限，或者所述不期望的关系包括碰撞。
  13. 根据权利要求1所述的控制方法，其特征在于，还包括：
    检测所述至少一个跟随运动臂在运动过程中出现的异常情况；以及
    基于所述异常情况，控制所述至少一个跟随运动臂停止运动或者发出警报信息。
  14. 根据权利要求13所述的控制方法，其特征在于，所述异常情况包括以下中的至少一项：所述多个运动臂中的至少两个之间出现不期望的关系、所述至少一个跟随运动臂中的至少一个超出运动范围极限、或所述多个运动臂中的至少一个上的无菌保护套脱落。
  15. 根据权利要求1所述的控制方法，其特征在于，所述机器人***还包括与所述多个运动臂可拆卸地连接的手术器械，所述参考运动臂的参考位置和参考姿态以及所述至少一个跟随运动臂的定位位置和定位姿态被配置为适于所述手术器械通过鞘套到达手术操作区域。
  16. 根据权利要求15所述的控制方法，其特征在于，基于所述参考运动臂的所述参考位置和参考姿态、所述跟随运动臂的所述定位位置和定位姿态以及所述鞘套的位置和姿态，确定所述手术器械进入鞘套的目标位置和目标姿态。
  17. 根据权利要求1所述的控制方法，其特征在于，所述参考运动臂的参考位置和参考姿态被配置为适于所述参考运动臂与鞘套连接；以及
    所述至少一个跟随运动臂的定位位置和定位姿态被配置为适于所述至少一个跟随运动臂与所述鞘套连接。
  18. 一种机器人***，包括：
    多个运动臂，所述多个运动臂包括参考运动臂和至少一个跟随运动臂；以及
    控制装置，被设置成基于接收到的输入信息，控制所述参考运动臂运动至参考位置和参考姿态，基于确定的所述参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态，控制所述至少一个跟随 运动臂运动至所述定位位置和定位姿态。
  19. 根据权利要求18所述的机器人***，其特征在于，所述控制装置还被设置成确定所述至少一个跟随运动臂的运动次序，并且基于所述运动次序，控制所述至少一个跟随运动臂至所述定位位置和定位姿态。
  20. 一种计算机可读存储介质，所述存储介质包括至少一个指令，所述至少一个指令由处理器执行以将处理器配置为：
    基于输入命令，控制所述参考运动臂移动到参考位置和参考姿态；
    基于所述参考运动臂的参考位置和参考姿态以及所述多个运动臂的相对位姿关系，确定所述至少一个跟随运动臂的定位位置和定位姿态；以及
    控制所述至少一个跟随运动臂移动至所述定位位置和定位姿态。
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