WO2022147935A1

WO2022147935A1 - Surgical robot, method for same to guide movement of surgical arm, and control device

Info

Publication number: WO2022147935A1
Application number: PCT/CN2021/092697
Authority: WO
Inventors: 高元倩; 王建辰; ***
Original assignee: 深圳市精锋医疗科技有限公司
Priority date: 2021-01-06
Filing date: 2021-05-10
Publication date: 2022-07-14
Also published as: CN112618029A; CN114652449A

Abstract

A surgical robot, comprising an operating arm and a controller; the operating arm comprises a camera arm having an image tail end instrument and a surgical arm having an operation tail end instrument; and the controller is coupled to the operating arm, and is configured to perform the following steps: acquiring a target position which the operation tail end instrument is expected to reach, adjusting the field of view of the image tail end instrument to move toward the target position, and ensuring that the operation tail end instrument is always located within the field of view of the image tail end instrument. The surgical robot can reduce or even avoid the problem in which an operation tail end instrument of a surgical arm moves outside of the field of view provided by an image tail end instrument of a camera arm, thereby ensuring surgery safety.

Description

手术机器人及其引导手术臂移动的方法、控制装置Surgical robot and method and control device for guiding the movement of surgical arm

本申请要求于2021年01月06日提交中国专利局、申请号为202110011217.2、申请名称为“手术机器人及其引导手术臂移动的方法、控制装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on January 06, 2021 with the application number 202110011217.2 and the application name "surgical robot and its method and control device for guiding the movement of a surgical arm", the entire contents of which are passed Reference is incorporated in this application.

技术领域technical field

本申请涉及医疗器械领域，特别是涉及一种手术机器人及其引导手术臂移动的方法、控制装置。The present application relates to the field of medical devices, and in particular, to a surgical robot and a method and control device for guiding the movement of a surgical arm.

背景技术Background technique

微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。手术机器人包括主操作台及从操作设备，从操作设备包括多个操作臂，这些操作臂包括具有图像末端器械的相机臂及具有操作末端器械的手术臂。主操作台包括显示器及手柄。医生在显示器显示的由相机臂提供的视野下操作手柄控制相机臂或手术臂运动。With the advancement of science and technology, the technology of minimally invasive surgical robots has gradually matured and been widely used. The surgical robot includes a master operation table and a slave operation device, and the slave operation device includes a plurality of operation arms, and the operation arms include a camera arm with an image end instrument and a surgical arm with an operation end instrument. The main console includes a display and a handle. The doctor operates the handle to control the movement of the camera arm or the surgical arm under the field of view provided by the camera arm displayed on the monitor.

通常，可以认位相机臂自身的移动、以及手术臂在相机臂的视野下的移动是安全的。然而，一些操作过程中，不可避免的会存在手术臂在相机臂的视野以外移动的情况，例如向患者腹腔内***手术臂，或者从患者腹腔内撤出手术臂的情况，举例在***或撤出手术臂时，通常通过医生的经验来进行盲插，由于医生经验不同，以及由于患者身体条件不同，这样凭经验操作容易引起意外情况的发生，因此是不安全的，期待尽量减少甚至避免在相机臂视野以外移动手术臂的操作。In general, the movement of the camera arm itself and the movement of the surgical arm within the field of view of the camera arm can be recognized as safe. However, during some operations, it is unavoidable that the surgical arm moves outside the field of view of the camera arm, such as inserting the surgical arm into the patient's abdominal cavity, or withdrawing the surgical arm from the patient's abdominal cavity. When the operating arm is removed, blind insertion is usually performed through the experience of the doctor. Due to the different experience of the doctor and the different physical conditions of the patient, such an operation based on experience is likely to cause accidents, so it is not safe, and it is expected to minimize or even avoid it. Operations that move the surgical arm outside the camera arm's field of view.

发明内容SUMMARY OF THE INVENTION

基于此，有必要提供一种可以减少甚至避免手术臂的操作末端器械在相机臂的图像末端器械提供的视野以外移动的问题，进而可确保手术安全的手术机器人及其引导手术臂移动的方法、控制装置。Based on this, it is necessary to provide a surgical robot and a method for guiding the movement of the surgical arm, which can reduce or even avoid the problem that the operation end device of the surgical arm moves outside the field of view provided by the image end device of the camera arm, thereby ensuring the safety of surgery. control device.

一方面，本申请提供了一种手术机器人中引导手术臂移动的方法，所述手术机器人具有多个操作臂，所述操作臂包括具有图像末端器械的相机臂和具有操作末端器械的手术臂，所述方法包括如下步骤：获取期望所述操作末端器械到达的目标位置；调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内。In one aspect, the present application provides a method for guiding movement of a surgical arm in a surgical robot, the surgical robot having a plurality of manipulation arms, the manipulation arms including a camera arm with an image end instrument and a surgical arm with an operation end instrument, The method includes the steps of: acquiring a target position expected to be reached by the operation end instrument; adjusting the field of view of the image end instrument to move toward the target position, and ensuring that the operation end instrument is always in the field of view of the image end instrument within.

其中，在调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内的步骤之前，所述方法还包括：判断所述操作末端器械是否位于所述图像末端器械的视野以内；在所述操作末端器械没有位于所述图像末端器械的视野以内时，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内；在所述操作末端器械位于所述图像末端器械的视野以内时，进入调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内的步骤。Wherein, before the step of adjusting the field of view of the image end device to move toward the target position and ensuring that the operation end device is always within the field of view of the image end device, the method further includes: judging the operation end Whether the instrument is within the field of view of the image end instrument; when the operation end instrument is not within the field of view of the image end instrument, adjust the field of view of the image end instrument so that the operation end instrument is located at the image end within the field of view of the instrument; when the operation end instrument is located within the field of view of the image end instrument, enter and adjust the field of view of the image end instrument to move to the target position, and ensure that the operation end instrument is always located in the image Steps within the field of view of the end instrument.

其中，判断所述操作末端器械是否位于所述图像末端器械的视野以内的步骤包括：获取所述图像末端器械的视野内的操作图像；通过图像识别所述操作末端器械是否位于所述操作图像内而判断所述操作末端器械是否位于所述图像末端器械的视野内。Wherein, the step of judging whether the operation terminal instrument is located within the field of view of the image terminal instrument includes: acquiring an operation image within the field of view of the image terminal instrument; identifying whether the operation terminal instrument is located in the operation image through the image And it is judged whether the operation end device is located in the field of view of the image end device.

其中，判断所述操作末端器械是否位于所述图像末端器械的视野以内的步骤包括：获取所述操作末端器械的当前位置；转换所述图像末端器械的视野为位置范围；通过判断所述当前位置是否位于所述位置范围内而判断所述操作末端器械是否位于所述图像末端器械的视野内。Wherein, the step of judging whether the operation terminal instrument is located within the field of view of the image terminal instrument includes: acquiring the current position of the operation terminal instrument; converting the field of view of the image terminal instrument into a position range; It is judged whether or not the operation end device is located within the visual field of the image end device by whether it is located within the position range.

其中，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内的步骤包括：获取所述操作末端器械的当前位置；根据所述操作末端器械的当前位置，通过改变所述图像末端器械的相机参数来调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内，所述相机参数包括视场角及/或景深。Wherein, the step of adjusting the field of view of the image end instrument so that the operation end instrument is located within the field of view of the image end instrument includes: acquiring the current position of the operation end instrument; and according to the current position of the operation end instrument, The field of view of the imaging end instrument is adjusted by changing the camera parameters of the imaging end instrument so that the manipulation end instrument is within the field of view of the imaging end instrument, the camera parameters including the angle of view and/or the depth of field.

其中，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内的步骤包括：获取所述操作末端器械的当前位置；根据所述操作末端器械的当前位置，通过改变所述图像末端器械的位姿来调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内，所述位姿包括位置及/或姿态。Wherein, the step of adjusting the field of view of the image end instrument so that the operation end instrument is located within the field of view of the image end instrument includes: acquiring the current position of the operation end instrument; according to the current position of the operation end instrument, The field of view of the image end instrument is adjusted by changing the pose of the image end instrument so that the manipulation end instrument is within the field of view of the image end instrument, the pose including position and/or attitude.

其中，调节所述图像末端器械的视野向所述目标位置移动的步骤包括：获取所述操作末端器械的当前位置；根据所述操作末端器械的当前位置和目标位置确定所述图像末端器械的视野的调节方向；根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。Wherein, the step of adjusting the field of view of the image end device to move to the target position includes: acquiring the current position of the operation end device; determining the field of view of the image end device according to the current position and the target position of the operation end device the adjustment direction; according to the adjustment direction, the visual field of the image end instrument is incrementally adjusted to move toward the target position of the operation end instrument.

其中，根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动的步骤为：根据所述调节方向以逐步调节所述图像末端器械的视场角及/或景深的方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。Wherein, the step of incrementally adjusting the field of view of the image end device to move to the target position of the operation end device according to the adjustment direction is: gradually adjusting the field of view of the image end device according to the adjustment direction And/or the depth of field is adjusted to move the field of view of the image end device to the target position of the operation end device.

其中，根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动的步骤为：根据所述调节方向以逐步调节所述图像末端器械的位置及/或姿态的方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。Wherein, the step of incrementally adjusting the visual field of the image end device to move to the target position of the operation end device according to the adjustment direction is: gradually adjusting the position of the image end device and/or according to the adjustment direction The visual field of the image end device is adjusted to move toward the target position of the operation end device in a manner of posture or posture.

其中，获取期望所述操作末端器械到达的目标位置的步骤包括：获取输入的操作模式，所述操作模式包括第一操作模式和第二操作模式，所述第一操作模式用于引导所述操作末端器械***至目标位置，所述第二操作模式用于引导所述操作末端器械撤回至目标位置；根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置。Wherein, the step of acquiring the target position expected to be reached by the operation terminal instrument comprises: acquiring an input operation mode, the operation mode includes a first operation mode and a second operation mode, and the first operation mode is used to guide the operation The end instrument is inserted to the target position, and the second operation mode is used to guide the operation end instrument to withdraw to the target position; the target position expected to be reached by the operation end instrument is determined according to the acquired operation mode.

其中，在获取到的所述操作模式是第一操作模式时，根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置的步骤包括：获取所述图像末端器械的目标视野；根据所述目标视野确定期望所述操作末端器械到达的目标位置。Wherein, when the acquired operation mode is the first operation mode, the step of determining the target position expected to be reached by the operation terminal device according to the acquired operation mode includes: acquiring a target field of view of the image terminal device; A target position expected to be reached by the manipulation end instrument is determined according to the target field of view.

其中，被配置成执行所述第一操作模式的两个以上的所述操作末端器械具有不同的目标位置。Wherein, two or more of the manipulation end instruments configured to perform the first mode of operation have different target positions.

其中，被配置成执行所述第一操作模式的两个以上的所述操作末端器械具有不同的目标位置，并且所述不同的目标位置之间具有安全的距离。Wherein, the two or more of the manipulation end instruments configured to perform the first mode of operation have different target positions with a safe distance between the different target positions.

其中，所述手术机器人包括穿刺器，所述穿刺器近端连接于所述手术机器人的远端、远端用于***并固定于切口处，所述穿刺器用于引导所述手术臂通过所述切口***人体，在获取到的所述操作模式是第二操作模式时，根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置的步骤为：获取与所述穿刺器关联的关联点的位置以作所述目标位置。Wherein, the surgical robot includes a trocar, the proximal end of the trocar is connected to the distal end of the surgical robot, and the distal end is used for inserting and fixing at the incision, and the trocar is used to guide the surgical arm through the The incision is inserted into the human body, and when the obtained operation mode is the second operation mode, the step of determining the target position expected to be reached by the operation end device according to the obtained operation mode is: obtaining the data associated with the trocar. The location of the associated point is used as the target location.

其中，作为所述目标位置的关联于所述穿刺器的关联点位于所述穿刺器上，或者位于所述穿刺器的轴的延长线上且位于所述穿刺器远端侧。Wherein, the point of association with the trocar as the target position is located on the trocar, or on an extension of the shaft of the trocar and on the distal side of the trocar.

其中，所述图像末端器械与所述目标位置之间具有安全的距离。Wherein, there is a safe distance between the image end device and the target position.

其中，所述方法包括：获取所述操作末端器械的当前位置；在所述操作末端器械从所述当前位置基本移动到所述目标位置时，调节所述图像末端器械的视野恢复成初始视野，所述初始视野指所述图像末端器械最初的濒临向所述目标位置进行调节之前的视野。Wherein, the method includes: acquiring the current position of the operation terminal instrument; when the operation terminal instrument basically moves from the current position to the target position, adjusting the field of view of the image terminal instrument to restore the initial field of view, The initial field of view refers to the initial field of view of the image end instrument before adjustment to the target position.

其中，调节所述图像末端器械的视野向所述目标位置移动的步骤包括：实时记录所述图像末端器械的视野向所述目标位置移动过程中对应时刻的相机参数及位姿的变化；调节所述图像末端器械的视野恢复成初始视野的步骤包括：根据视野调整方式将所述图像末端器械的视野逐步调整以恢复成所述初始视野，所述视野调整方式为将后一时刻的相机参数及位姿调整为相邻的前一时刻的相机参数及位姿的调整方式。Wherein, the step of adjusting the field of view of the image end device to move to the target position includes: recording in real time changes in camera parameters and poses at the corresponding moment in the process of moving the field of view of the image end device to the target position; The step of restoring the field of view of the image terminal device to the initial field of view includes: gradually adjusting the field of view of the image terminal device to restore the initial field of view according to a field of view adjustment method, and the field of view adjustment method is to adjust the camera parameters and the camera parameters at the later moment. The pose adjustment is the adjustment method of the camera parameters and poses of the adjacent previous moment.

其中，调节所述图像末端器械的视野向所述目标位置移动的步骤中，包括：获取并记录所述图像末端器械的当前视野所对应的相机参数及位姿；进而在调节所述图像末端器械的视野恢复成初始视野的步骤中，根据记录的所述图像末端器械的当前视野所对应的相机参数及位姿直接将所述图像末端器械的视野恢复成所述初始视野。Wherein, the step of adjusting the field of view of the image end device to move to the target position includes: acquiring and recording camera parameters and poses corresponding to the current field of view of the image end device; and then adjusting the image end device In the step of restoring the visual field of the image terminal device to the initial visual field, the visual field of the image terminal device is directly restored to the initial visual field according to the recorded camera parameters and poses corresponding to the current visual field of the image terminal device.

其中，所述方法包括：在所述操作末端器械没有位于所述图像末端器械的视野以内时，禁止所述操作末端器械移动。Wherein, the method includes prohibiting movement of the operation end instrument when the operation end instrument is not within the field of view of the image end instrument.

其中，所述方法还包括：检测是否获取到启动指令；在获取到所述启动指令时，判断所述操作末端器械是否位于所述图像末端器械的视野以内。Wherein, the method further includes: detecting whether a start-up instruction is acquired; when the start-up instruction is acquired, judging whether the operation end device is located within the field of view of the image end device.

其中，所述手术机器人包括用于安装及驱动所述操作臂的动力机构，所述启动指令由所述手术臂安装至所述动力机构时被触发产生。Wherein, the surgical robot includes a power mechanism for installing and driving the operating arm, and the start command is triggered and generated when the surgical arm is mounted on the power mechanism.

其中，所述方法包括：获取所述图像末端器械的视野的可达区间，所述视野的可达区间指全部视野的空间集合；获取所述操作末端器械的当前位置；判断所述操作末端器械的当前位置是否位于所述图像末端器械的视野的可达区间；在所述操作末端器械的当前位置位于所述图像末端器械的视野的可达区间时，进入调节所述图像末端器械的视野向所述目标位置移动的步骤。Wherein, the method includes: acquiring the reachable interval of the visual field of the image terminal device, where the reachable interval of the visual field refers to a spatial set of all visual fields; acquiring the current position of the operation terminal device; judging the operation terminal device Whether the current position of the device is within the reachable range of the visual field of the image terminal device; when the current position of the operation terminal device is within the reachable range of the visual field of the image terminal device, enter and adjust the visual field direction of the image terminal device. the step of moving the target position.

其中，在确保所述操作末端器械始终位于所述图像末端器械的视野以内的条件下，所述图像末端器械随着所述操作末端器械的移动而同步移动。Wherein, under the condition that the operation end instrument is always located within the field of view of the image end instrument, the image end instrument moves synchronously with the movement of the operation end instrument.

其中，在确保所述操作末端器械始终位于所述图像末端器械的视野以内的条件下，所述图像末端器械随着所述操作末端器械的移动而滞后移动。Wherein, under the condition of ensuring that the operation end instrument is always located within the field of view of the image end instrument, the image end instrument moves with a lag along with the movement of the operation end instrument.

其中，令各相邻时刻的所述图像末端器械的视野分别为第一视野和第二视野，所述第一视野和所述第二视野之间具有重叠区域，限定所述操作末端器械途经所述重叠区域向所述目标位置移动。Wherein, let the visual field of the image end instrument at each adjacent moment be a first visual field and a second visual field, respectively, and there is an overlapping area between the first visual field and the second visual field, which defines the place where the operation end instrument passes through. The overlapping area moves toward the target position.

其中，所述方法包括：在所述操作末端器械移动时，控制所述操作末端器械基本沿着其当前位置向所述目标位置的方向直线移动。Wherein, the method includes: when the operation end instrument moves, controlling the operation end instrument to move substantially linearly along the direction of its current position toward the target position.

其中，所述方法包括：计算所述操作末端器械的移动方向与所述操作末端器械的当前位置和目标位置之间的连接线的偏离角；在所述偏离角达到偏离阈值时，至少产生阻碍所述操作末端器械在偏离方向上移动的阻力。Wherein, the method includes: calculating the deviation angle of the connecting line between the moving direction of the operation end device and the current position and the target position of the operation end device; when the deviation angle reaches a deviation threshold, at least an obstacle is generated The resistance to movement of the manipulation end instrument in an offset direction.

其中，所述阻力的大小与所述偏离角的大小呈正相关。Wherein, the magnitude of the resistance is positively correlated with the magnitude of the deviation angle.

另一方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被配置为由处理器加载并执行实现如上述任一项实施例所述的方法的步骤。On the other hand, the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to achieve the implementation of any of the foregoing embodiments. steps of the method described.

另一方面，本申请提供了一种手术机器人的控制装置，包括：存储器，用于存储计算机程序；及处理器，用于加载并执行所述计算机程序；其中，所述计算机程序被配置为由所述处理器加载并执行实现如上述任一项实施例所述的方法的步骤。In another aspect, the present application provides a control device for a surgical robot, comprising: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured by The processor loads and executes steps implementing the method as described in any of the above embodiments.

另一方面，本申请提供了一种手术机器人，包括：操作臂，具有图像末端器械的相机臂和具有操作末端器械的手术臂；以及控制器，所述控制器与所述操作臂耦接，并被配置成执行如上述任一项实施例所述的控制方法的步骤。In another aspect, the present application provides a surgical robot, comprising: a manipulation arm, a camera arm with an image end instrument, and a surgical arm with an operation end instrument; and a controller coupled to the manipulation arm, and is configured to execute the steps of the control method according to any one of the above embodiments.

本申请的手术机器人及其引导手术臂移动的方法、控制装置，具有如下有益效果：The surgical robot of the present application and the method and control device for guiding the movement of the surgical arm have the following beneficial effects:

在操作末端器械位于图像末端器械的视野以内时，通过调节图像末端器械的视野向目标位置移动，并确保操作末端器械始终位于该图像末端器械的视野以内的方式，能够利用图像末端器械向该目标位置移动的视野逐渐地引导操作末端器械向该目标位置移动，以确保手术臂的操作末端器械始终处于可观察状态，进而可以保证手术的安全性及可靠性。When the operation end instrument is within the field of view of the image end instrument, by adjusting the field of view of the image end instrument to move to the target position, and ensuring that the operation end instrument is always within the field of view of the image end instrument, the image end instrument can be used to move to the target position. The moving field of view gradually guides the operation end instrument to move to the target position, so as to ensure that the operation end instrument of the operating arm is always in an observable state, thereby ensuring the safety and reliability of the operation.

附图说明Description of drawings

图1为本申请手术机器人一实施例的结构示意图；FIG. 1 is a schematic structural diagram of an embodiment of a surgical robot of the present application;

图2为图1所示手术机器人一实施例的局部示意图；FIG. 2 is a partial schematic diagram of an embodiment of the surgical robot shown in FIG. 1;

图3为手术机器人的控制方法一实施例的流程图；3 is a flowchart of an embodiment of a control method for a surgical robot;

图4为手术机器人中操作臂与动力部的结构示意图；4 is a schematic structural diagram of an operating arm and a power part in a surgical robot;

图5为手术机器人中引导手术臂移动的方法的流程图；5 is a flowchart of a method for guiding the movement of a surgical arm in a surgical robot;

图6为手术机器人中引导手术臂移动的方法一实施例的原理示意图；6 is a schematic diagram of the principle of an embodiment of a method for guiding the movement of a surgical arm in a surgical robot;

图7～图10为手术机器人中引导手术臂移动的方法一实施例的流程图；7 to 10 are flowcharts of an embodiment of a method for guiding movement of a surgical arm in a surgical robot;

图11～图20分别为手术臂中操作末端器械的引导状态一实施例的示意图；11 to 20 are schematic diagrams of an embodiment of the guiding state of the operating end instrument in the operating arm, respectively;

图21～图25为手术机器人中引导手术臂移动的方法一实施例的流程图；21-25 are flowcharts of an embodiment of a method for guiding the movement of a surgical arm in a surgical robot;

图26为本申请一实施例的手术机器人的控制装置的结构示意图。FIG. 26 is a schematic structural diagram of a control device of a surgical robot according to an embodiment of the application.

具体实施方式Detailed ways

为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本申请所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.

需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦接”另一个元件，它可以是直接耦接到另一个元件或者可能同时存在居中元件。本申请所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本申请所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。本申请所使用的术语“第一/第二”等表示一个部件以及一类具有共同特性的两个以上的部件。It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this application are for illustration purposes only and do not represent the only embodiment. The terms "distal end" and "proximal end" are used in this application as orientation words, which are common terms in the field of interventional medical devices, wherein "distal end" means the end away from the operator during the operation, and "proximal end" means The end closest to the operator during surgery. As used herein, the terms "first/second" etc. refer to a component as well as a class of two or more components having common characteristics.

除非另有定义，本申请所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本申请中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本申请所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。本申请中所使用的术语“各”包括一个或两个以上。Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in this application are for the purpose of describing specific embodiments only, and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. As used in this application, the term "each" includes one or more than two.

如图1至图2所示，其分别为本申请手术机器人一实施例的结构示意图，及其局部示意图。As shown in FIG. 1 to FIG. 2 , which are respectively a schematic structural diagram and a partial schematic diagram of an embodiment of the surgical robot of the present application.

手术机器人包括主操作台2及由主操作台2控制的从操作设备3。主操作台2具有运动输入设备21及显示器22，医生通过操作运动输入设备21向从操作设备3发送控制命令，以令从操作设备3根据医生操作运动输入设备21的控制命令执行相应操作，并通过显示器22观察手术区域。其中，从操作设备3具有驱动臂，驱动臂具有机械臂30及可拆卸地装设于机械臂30远端的一个以上的操作臂31。机械臂30包括依次连接的基座及连接组件，连接组件具有多个关节组件。操作臂31包括依次连接的连杆32、连接组件33及末端器械34，其中，连接组件33具有多个关节组件，通过调节操作臂31的关节组件调节末端器械34的姿态；末端器械34具有图像末端器械34A及操作末端器械34B。图像末端器械34A用于采集视野内的图像，显示器22用于显示该图像。操作末端器械34B用于执行手术操作如剪切、缝合。本文令具有图像末端器械34A的操作臂为相机臂31A，并令具有操作末端器械34B的操作臂为手术臂31B。The surgical robot includes a master console 2 and a slave operation device 3 controlled by the master console 2 . The master console 2 has a motion input device 21 and a display 22, and the doctor sends a control command to the slave operation device 3 by operating the motion input device 21, so that the slave operation device 3 performs the corresponding operation according to the control command of the doctor operating the motion input device 21, and The surgical field is viewed through the display 22 . The slave operating device 3 has a driving arm, and the driving arm has a mechanical arm 30 and one or more operating arms 31 detachably installed at the distal end of the mechanical arm 30 . The robotic arm 30 includes a base and a connecting assembly that are connected in sequence, and the connecting assembly has a plurality of joint assemblies. The operating arm 31 includes a connecting rod 32, a connecting component 33 and an end device 34 connected in sequence, wherein the connecting component 33 has a plurality of joint components, and the posture of the end device 34 is adjusted by adjusting the joint components of the operating arm 31; the end device 34 has an image The end device 34A and the operation end device 34B. Image end instrument 34A is used to capture an image within the field of view, and display 22 is used to display the image. The manipulation end instrument 34B is used to perform surgical operations such as cutting, suturing. Here, let the manipulation arm with the image end instrument 34A be the camera arm 31A, and let the manipulation arm with the manipulation end instrument 34B be the surgical arm 31B.

图1展示的手术机器人为单孔手术机器人，各操作臂31通过装设于机械臂30远端的同一个穿刺器4***至患者体内。在单孔手术机器人中，医生一般仅对操作臂31进行控制以完成基本手术操作。此时，单孔手术机器人的操作臂31应当同时具有位置自由度(即定位自由度)和姿态自由度(即定向自由度)，以实现在一定范围内位姿的变化，例如操作臂31具有水平移动自由度x、竖直移动自由度y，自转自由度α、俯仰自由度β及偏航自由度γ，操作臂31还可以在机械臂30远端关节组件即动力机构301的驱动下实现前后移动自由度z(即进给自由度)，此外，一些实施例中，还可以为操作臂31设置冗余自由度以实现更多功能的可能性，例如，在上述可实现6自由度的前提下，额外再设置一个、两个甚至更多个自由度。例如，动力机构301具有导轨和滑动设置于导轨上的动力部，操作臂31可拆卸的装设于动力部上，一方面，动力部在导轨上的滑动提供操作臂31前后移动自由度z，另一方面，动力部为操作臂31的关节组件提供动力实现其余5个自由度(即[x,y,α,β, γ])。The surgical robot shown in FIG. 1 is a single-hole surgical robot, and each operating arm 31 is inserted into the patient's body through the same trocar 4 installed at the distal end of the robotic arm 30 . In a single-hole surgical robot, the doctor generally only controls the operating arm 31 to complete basic surgical operations. At this time, the manipulating arm 31 of the single-hole surgical robot should have both a positional degree of freedom (that is, a positioning degree of freedom) and a posture degree of freedom (that is, the orientational degree of freedom), so as to realize the change of the posture and attitude within a certain range, for example, the manipulating arm 31 has The degree of freedom of horizontal movement x, the degree of freedom of vertical movement y, the rotation degree of freedom α, the pitch degree of freedom β and the yaw degree of freedom γ, the operating arm 31 can also be realized by the driving of the distal joint component of the mechanical arm 30, that is, the power mechanism 301. The degree of freedom z of forward and backward movement (ie, the degree of freedom of feeding), in addition, in some embodiments, redundant degrees of freedom can also be set for the operating arm 31 to realize the possibility of more functions. Under the premise, set one, two or more degrees of freedom in addition. For example, the power mechanism 301 has a guide rail and a power part slidably arranged on the guide rail, and the operating arm 31 is detachably installed on the power part. On the other hand, the power part provides power for the joint assembly of the operating arm 31 to realize the remaining 5 degrees of freedom (ie [x, y, α, β, γ]).

手术机器人还包括控制器。控制器可以集成于主操作台2，也可以集成于从操作设备3。当然，控制器也可以独立于主操作台2和从操作设备3，其例如可部署在本地，又例如控制器可以部署在云端。其中，控制器可以由一个以上的处理器构成。The surgical robot also includes a controller. The controller can be integrated into the master console 2 or into the slave operation device 3 . Of course, the controller can also be independent of the master operating console 2 and the slave operating device 3, which can be deployed locally, for example, or the controller can be deployed in the cloud. Wherein, the controller may be constituted by more than one processor.

手术机器人还包括输入部。输入部可以集成于主操作台2。输入部也可以集成于从操作设备3。当然，输入部也可以独立于主操作台2和从操作设备3。该输入部例如可以是鼠标、键盘、语音输入装置、触摸屏。一实施例中，采用触摸屏作为输入部，触摸屏例如可以设置于主操作台2的扶手上。The surgical robot further includes an input unit. The input unit may be integrated into the main console 2 . The input unit can also be integrated into the slave operating device 3 . Of course, the input part can also be independent of the master console 2 and the slave operation device 3 . The input unit may be, for example, a mouse, a keyboard, a voice input device, or a touch screen. In one embodiment, a touch screen is used as the input unit, and the touch screen may be disposed on the armrest of the main console 2 , for example.

操作臂31还包括感应关节组件的关节变量的传感器。这些传感器包括感应关节组件转动运动的角度传感器及感应关节组件线性运动的位移传感器，具体可根据关节组件的类型来配置适应的传感器。The operating arm 31 also includes sensors that sense joint variables of the joint assembly. These sensors include an angle sensor that senses the rotational motion of the joint assembly and a displacement sensor that senses the linear motion of the joint assembly. Specifically, an appropriate sensor can be configured according to the type of the joint assembly.

控制器与这些传感器耦接，并与输入部及显示器22耦接。The controller is coupled to these sensors, and to the input and display 22 .

示例性的，如图3所示，操作臂31的驱动盒310抵接于动力机构301的动力部302的抵接面装设有存储单元311，相应在动力部302抵接于驱动盒310的抵接面装设有与存储单元311配套的读取单元303，该读取单元303与控制器耦接，操作臂31装设于动力部302时，读取单元303与存储单元311通讯，读取单元303从存储单元311中读取相关信息。该存储单元311例如是存储器、电子标签。存储单元例如存储有操作臂的类型、操作臂可被配置成目标部位的部位、操作臂的运动学模型等。例如，相机臂31A的存储单元311中还额外的存储有相机参数。Exemplarily, as shown in FIG. 3 , a storage unit 311 is installed on the abutment surface of the drive box 310 of the operating arm 31 abutting against the power part 302 of the power mechanism 301 . The abutting surface is provided with a reading unit 303 matched with the storage unit 311. The reading unit 303 is coupled to the controller. When the operating arm 31 is installed on the power part 302, the reading unit 303 communicates with the storage unit 311, and reads The retrieval unit 303 reads the relevant information from the storage unit 311 . The storage unit 311 is, for example, a memory or an electronic tag. The storage unit stores, for example, the type of the manipulator arm, the part where the manipulator arm can be configured as the target part, the kinematic model of the manipulator arm, and the like. For example, the storage unit 311 of the camera arm 31A additionally stores camera parameters.

如图4所示，其为本申请手术机器人一实施例的结构示意图，更具体地，图4所展示的是多孔手术机器人一实施例的结构示意图。图4所示的多孔手术机器人与图1所示的单孔手术机器人之间的区别主要存在于两者的从操作设备之间的区别。图4所示的多孔手术机器人中从操作设备的驱动臂具有依次连接的机械臂110、调整臂120、操纵器130及操作臂150。调整臂120、操纵器130及操作臂150数量相同且均为两个以上，例如四个，机械臂110 远端具有定向平台，调整臂120近端均连接于定向平台，操纵器130近端连接于调整臂120远端。操纵器130用于可拆卸地连接操作臂150，操纵器130具有多个关节组件。其中，每个操纵器130均具有一个动力机构，操作臂150安装于该动力机构上并由该动力机构进一步驱动。在多孔手术机器人中，不同操作臂150通过不同的穿刺器***患者体内，多孔手术机器人的操作臂150相较于单孔手术机器人的操作臂31而言，一般具有较少的自由度，通常，操作臂150仅具有姿态自由度(即定向自由度)，当然其姿态的变化一般也对位置产生影响，但因为影响较小某些场景下可以被忽略。操作臂150的位置的变化通常可以由操纵器130辅助实现，由于操纵器130与操作臂150联动实现位姿变化，可以将这两者认为是操纵器组件，与单孔手术机器人中操作臂31相当。As shown in FIG. 4 , it is a schematic structural diagram of an embodiment of a surgical robot of the present application. More specifically, FIG. 4 shows a structural schematic diagram of an embodiment of a porous surgical robot. The difference between the multi-hole surgical robot shown in FIG. 4 and the single-hole surgical robot shown in FIG. 1 mainly lies in the difference between the slave operating devices of the two. In the multi-hole surgical robot shown in FIG. 4 , the driving arm of the slave operating device has a robotic arm 110 , an adjustment arm 120 , a manipulator 130 and an operating arm 150 connected in sequence. The number of the adjustment arm 120 , the manipulator 130 and the operation arm 150 is the same and more than two, for example, four. The distal end of the robotic arm 110 has an orientation platform, the proximal end of the adjustment arm 120 is connected to the orientation platform, and the proximal end of the manipulator 130 is connected to the orientation platform. at the distal end of the adjustment arm 120 . The manipulator 130 is used for detachably connecting the operating arm 150, and the manipulator 130 has a plurality of joint components. Wherein, each manipulator 130 has a power mechanism on which the operating arm 150 is mounted and further driven by the power mechanism. In the multi-hole surgical robot, different operating arms 150 are inserted into the patient through different trocars. Compared with the operating arm 31 of the single-hole surgical robot, the operating arm 150 of the multi-hole surgical robot generally has less degrees of freedom. Generally, The manipulating arm 150 only has a posture degree of freedom (ie, an orientation degree of freedom), of course, the change of its posture generally also affects the position, but it can be ignored in some scenarios because the influence is small. The change of the position of the manipulator 150 can usually be assisted by the manipulator 130. Since the manipulator 130 and the manipulator 150 are linked to realize the pose change, the two can be regarded as manipulator components, which are similar to the manipulator 31 in the single-hole surgical robot. quite.

根据配置，运动输入设备21可以输入包括位置指令及姿态指令的位姿指令以控制驱动臂中第一部分远端位姿的变化。该第一部分远端通常指末端器械，此外，该第一部分远端还可以指与末端器械相连接的一个关节组件，末端器械位姿的变化通常与该关节组件位姿的变化是一致的。Depending on the configuration, the motion input device 21 may input pose commands including position commands and pose commands to control changes in the pose of the first portion of the distal end of the drive arm. The distal end of the first part usually refers to the end device. In addition, the distal end of the first part may also refer to a joint assembly connected with the end device. The change of the posture of the end device is generally consistent with the change of the posture of the joint assembly.

在图1所示的手术机器人中，驱动臂包括机械臂及操作臂，操作臂近端装设于机械臂远端，末端器械装设于操作臂远端。根据配置，第一部分可被配置成是操作臂；或者，第一部分可被配置成是机械臂和操作臂的整体。In the surgical robot shown in FIG. 1 , the driving arm includes a manipulator arm and an operation arm, the proximal end of the manipulator arm is installed at the distal end of the manipulator arm, and the terminal instrument is installed at the distal end of the manipulator arm. Depending on the configuration, the first part may be configured as a manipulator arm; alternatively, the first part may be configured as an integral part of the robotic arm and manipulator arm.

而相应在图4所示的手术机器人中，驱动臂包括机械臂、调整臂、操纵器及操作臂，调整臂近端装设于机械臂远端，操纵器近端装设于调整臂远端，操作臂近端装设于操纵器远端，末端器械装设于操作臂远端。根据配置，第一部分可被配置成是操作臂；或者，第一部分可被配置成是操纵器和操作臂的整体；或者，第一部分可被配置成是机械臂、调整臂、操纵器和操作臂的整体。Correspondingly, in the surgical robot shown in FIG. 4 , the driving arm includes a mechanical arm, an adjusting arm, a manipulator and an operating arm. The proximal end of the adjusting arm is installed at the distal end of the mechanical arm, and the proximal end of the manipulator is installed at the distal end of the adjusting arm. , the proximal end of the operating arm is installed at the distal end of the manipulator, and the end device is installed at the distal end of the operating arm. Depending on the configuration, the first part can be configured as a manipulator arm; alternatively, the first part can be configured as an integral part of the manipulator and manipulator arm; alternatively, the first part can be configured as a robotic arm, adjustment arm, manipulator and manipulator arm Overall.

可理解的，无论是图1所示的单孔手术机器人还是图4所示的多孔手术机器人，机械臂通常用于大范围调节末端器械的位姿，操作臂用于精细调节末端器械的位姿，例如，手术前通过机械臂等摆位，手术中主要通过控制操作臂实施手术。当然，一些实施例中，也可以结合机械臂及操作臂等相应臂体结构一起协同运动实现特定功能。根据配置，末端器械中的一个以上可以被配置成受控末端器械以接受运动输入设备的控制。It is understandable that whether it is the single-hole surgical robot shown in Figure 1 or the multi-hole surgical robot shown in Figure 4, the robotic arm is usually used to adjust the posture of the end instrument in a large range, and the manipulator arm is used to finely adjust the posture of the end instrument. For example, before the operation, the robot arm is used to set the position, and the operation is mainly carried out by controlling the operation arm during the operation. Certainly, in some embodiments, the corresponding arm structures such as the robotic arm and the operating arm can also be combined to move together to achieve specific functions. Depending on the configuration, one or more of the end instruments may be configured as a controlled end instrument to accept control by the motion input device.

一实施例中，本申请提供了一种手术机器人中引导手术臂移动的方法，该方法可以由控制器执行，可适用于多种类型的手术机器人使用。如图5所示，该方法包括如下步骤：In one embodiment, the present application provides a method for guiding the movement of a surgical arm in a surgical robot, the method can be executed by a controller, and is applicable to various types of surgical robots. As shown in Figure 5, the method includes the following steps:

步骤S11，获取期望操作末端器械到达的目标位置。In step S11, the target position expected to be reached by the operation end device is acquired.

本申请所涉及的不同对象的位置及姿态均基于同一参考坐标系来进行描述，这些不同对象包括但不限于相机臂的图像末端器械及手术臂的操作末端器械。这里的参考坐标系包括但不限于手术机器人的基坐标系，例如，还可以是根据该基坐标系换算得到的其它可作为参考的坐标系，例如主操作台的坐标系。The positions and postures of different objects involved in this application are all described based on the same reference coordinate system, and these different objects include but are not limited to the image end instrument of the camera arm and the operation end instrument of the surgical arm. The reference coordinate system here includes, but is not limited to, the base coordinate system of the surgical robot. For example, it can also be other coordinate systems that can be used as a reference converted from the base coordinate system, such as the coordinate system of the main operating table.

该目标位置既可以是当前位于图像末端器械的视野以内的位置，也可以是当前并没有位于图像末端器械的视野以内的位置，其具体可以根据手术过程中的需求来进行确定。The target position can be either a position currently within the field of view of the image terminal instrument, or a position currently not within the field of view of the image terminal instrument, which can be specifically determined according to the needs in the surgical process.

步骤S12，调节图像末端器械的视野向目标位置移动，并确保操作末端器械始终位于图像末端器械的视野以内。Step S12, adjust the field of view of the image end device to move to the target position, and ensure that the operation end device is always within the field of view of the image end device.

操作末端器械位于图像末端器械的视野以内是执行该步骤S12的前提。也即，在操作末端器械位于图像末端器械的视野以内时，调节图像末端器械的视野向目标位置移动，并确保操作末端器械始终位于图像末端器械的视野以内。It is a prerequisite for the execution of this step S12 that the operation end device is located within the field of view of the image end device. That is, when the operation end instrument is located within the field of view of the image end instrument, adjust the field of view of the image end instrument to move toward the target position, and ensure that the operation end instrument is always within the field of view of the image end instrument.

该步骤S12中，调节图像末端器械的视野向目标位置移动可以是响应于操作末端器械向目标位置移动而进行的。较佳的，调节图像末端器械的视野向目标位置移动是响应于操作末端器械在图像末端器械的视野以内向目标位置的移动而进行的。操作末端器械始终位于图像末端器械的视野以内例如可以是该操作末端器械的局部如其尖端或中端或尾端上的一个或多个点始终位于图像末端器械的视野以内，又或者是该操作末端器械的整体始终位于图像末端器械的视野以内。In this step S12, adjusting the field of view of the image end device to move to the target position may be performed in response to the operation of the end device to move to the target position. Preferably, adjusting the movement of the field of view of the image end instrument to the target position is performed in response to the movement of the manipulation end instrument to the target position within the field of view of the image end instrument. The operation end instrument is always within the field of view of the image end instrument, for example, a part of the operation end instrument such as one or more points on its tip or middle or tail is always within the field of view of the image end instrument, or the operation end The entirety of the instrument is always within the field of view of the instrument at the end of the image.

举例而言，如图6所示，图像末端器械的视野从操作末端器械的当前位置移动到目标位置时，假设经历了视野0、视野1、视野2…视野n-1、视野n，操作末端器械的移动位置经历了位置P0、P1、P2…Pn-1、Pn。其中，P0、P1位于视野0，P1、P2位于视野1…Pn-1、Pn位于视野n。可见，操作末端器械始终处于图像末端器械的视野以内进行移动。整个过程中，一方面，图像末端器械的视野不断逼近该目标位置，另一方面，操作末端器械也不断逼近该目标位置，直至图像末端器械的视野达到目标位置且操作末端器械也被引导至目标位置。For example, as shown in Fig. 6, when the field of view of the image end instrument moves from the current position of the operation end instrument to the target position, it is assumed that the field of view 0, the field of view 1, the field of view 2...the field of view n-1, the field of view n, the operation end The moving position of the instrument goes through the positions P0, P1, P2...Pn-1, Pn. Among them, P0, P1 are located in the field of view 0, P1, P2 are located in the field of view 1...Pn-1, Pn are located in the field of view n. It can be seen that the operating end device always moves within the field of view of the image end device. During the whole process, on the one hand, the field of view of the end-of-image instrument is constantly approaching the target position, and on the other hand, the instrument at the end of operation is also continuously approaching the target position, until the field of view of the instrument at the end of the image reaches the target position and the instrument at the end of operation is also guided to the target. Location.

通过上述步骤S11～步骤S12，即在操作末端器械位于图像末端器械的视野以内时，通过调节图像末端器械的视野向目标位置移动，并确保操作末端器械始终位于该图像末端器械的视野以内的方式，能够利用图像末端器械向该目标位置移动的视野逐渐地引导操作末端器械向该目标位置移动，以确保手术臂的操作末端器械始终处于可观察状态，进而可以保证手术的安全性及可靠性。Through the above steps S11 to S12, that is, when the operation end device is located within the field of view of the image end device, the field of view of the image end device is adjusted to move to the target position, and the method of ensuring that the operation end device is always within the field of view of the image end device , can use the visual field of the image end instrument to move to the target position to gradually guide the operation end instrument to move to the target position, so as to ensure that the operation end instrument of the operating arm is always in an observable state, thereby ensuring the safety and reliability of the operation.

在进行步骤S12之前，继续参阅图5，具体在调节图像末端器械的视野向目标位置移动的步骤之前，可以包括：Before performing step S12, continue to refer to FIG. 5, specifically before the step of adjusting the visual field of the image end device to move to the target position, it may include:

步骤S13，判断操作末端器械是否位于图像末端器械的视野以内。Step S13, it is judged whether the operation end device is located within the field of view of the image end device.

如果操作末端器械位于图像末端器械的视野以内，则进入步骤S12；而如果操作末端器械没有位于图像末端器械的视野以内，则进入步骤S14。该步骤S14为：调节图像末端器械的视野以使操作末端器械位于图像末端器械的视野以内。If the operation end instrument is within the field of view of the image end instrument, proceed to step S12; and if the operation end instrument is not within the field of view of the image end instrument, proceed to step S14. The step S14 is: adjusting the field of view of the image end device so that the operation end device is located within the field of view of the image end device.

关于上述步骤S13，即判断操作末端器械是否位于图像末端器械的视野以内具有多种方法，本申请示例了两种方法来实现该步骤S13。Regarding the above-mentioned step S13, that is, judging whether the operation terminal device is within the field of view of the image terminal device, there are various methods, and the present application exemplifies two methods to realize this step S13.

一实施例中，如图7所示，该步骤S13可以包括：In an embodiment, as shown in FIG. 7 , the step S13 may include:

步骤S131，获取图像末端器械的视野内的操作图像。Step S131 , acquiring an operation image within the field of view of the image end device.

步骤S132，通过图像识别操作末端器械是否位于操作图像内而判断操作末端器械是否位于图像末端器械的视野内。In step S132, it is determined whether the operation end device is located in the field of view of the image end device by identifying whether the operation end device is located in the operation image.

在该步骤S132中，如果识别出操作末端器械存在于操作图像内，则判断出操作末端器械位于图像末端器械的视野内；而如果识别出操作末端器械没有存在于操作图像内，则判断出操作末端器械没有位于图像末端器械的视野内。In this step S132, if it is recognized that the operation end device exists in the operation image, it is determined that the operation end device is located in the field of view of the image end device; and if it is recognized that the operation end device does not exist in the operation image, it is determined that the operation end device The end instrument is not within the field of view of the image end instrument.

为了更好地进行图像识别，可以训练神经网络来进行图像识别。例如，所训练的神经网络可以是卷积神经网络。For better image recognition, neural networks can be trained for image recognition. For example, the trained neural network may be a convolutional neural network.

另一实施例中，如图8所示，该步骤S13还可以包括：In another embodiment, as shown in FIG. 8 , the step S13 may further include:

步骤S131’，获取操作末端器械的当前位置。Step S131', obtaining the current position of the operating end device.

该操作末端器械的当前位置可以结合手术臂的运动学模型及由手术臂中各关节组件的关节变量以利用正运动学计算获得。这些关节变量可以由相应关节组件处的传感器检测得到。在其它实施方式中，在图像末端器械例如为立体视觉的图像末端器械时，还可以通过调节该立体视觉的图像末端器械先扫描并识别出该操作末端器械的当前位置，例如通过识别出该操作末端器械相对于图像末端器械的位置，进而可通过坐标系转换确定该操作末端器械在参考坐标系的当前位置。The current position of the manipulation end instrument can be calculated using forward kinematics in combination with the kinematic model of the surgical arm and the joint variables of each joint component in the surgical arm. These joint variables can be detected by sensors at the corresponding joint components. In other embodiments, when the image end device is, for example, a stereoscopic image end device, the current position of the operation end device can also be scanned and recognized by adjusting the stereoscopic image end device, for example, by identifying the operation end device. The position of the end device relative to the image end device, and then the current position of the operation end device in the reference coordinate system can be determined through coordinate system transformation.

步骤S132’，转换图像末端器械的视野为位置范围。Step S132', converting the field of view of the image end device into a position range.

视野是一个区域，其实际具有边界，因此可以转换成例如参考坐标系的位置范围。The field of view is an area that actually has boundaries and can therefore be transformed into, for example, the positional extent of a reference coordinate system.

步骤S133’，通过判断当前位置是否位于位置范围内而判断操作末端器械是否位于图像末端器械的视野内。Step S133', by judging whether the current position is within the position range, it is judged whether the operation end device is within the field of view of the image end device.

在该步骤S133’中，如果操作末端器械的当前位置位于图像末端器械的视野所对应的位置范围内，则判断出操作末端器械位于图像末端器械的视野内；而如果操作末端器械的当前位置没有位于图像末端器械的视野所对应的位置范围内，则判断出操作末端器械没有位于图像末端器械的视野内。In this step S133', if the current position of the operation end device is within the position range corresponding to the field of view of the image end device, it is determined that the operation end device is within the field of view of the image end device; and if the current position of the operation end device does not If it is within the position range corresponding to the visual field of the image end device, it is determined that the operation end device is not located in the field of view of the image end device.

一些实施例中，该两种方式可以相互结合以互相印证操作末端器械是否位于图像末端器械的视野内。例如，当通过图像识别判断出的结果和通过位置检测判断出的结果不一致时，为了安全，可以先停止调节图像末端器械的视野，并在获取到医生的确认指令之后才继续调节图像末端器械的视野。该过程也可以用于校准图像识别的神经网络以提高其判断的准确度。In some embodiments, the two methods can be combined with each other to mutually verify whether the manipulation end instrument is located within the field of view of the image end instrument. For example, when the result determined by image recognition is inconsistent with the result determined by position detection, for safety, you can stop adjusting the field of view of the device at the end of the image, and continue to adjust the view of the device at the end of the image after obtaining the doctor's confirmation instruction. vision. This process can also be used to calibrate neural networks for image recognition to improve the accuracy of their judgments.

上述步骤S132，即调节图像末端器械的视野以使操作末端器械位于图像末端器械的视野以内的步骤也可以通过多种方式来实现。The above-mentioned step S132, that is, the step of adjusting the field of view of the image end device so that the operation end device is located within the field of view of the image end device can also be implemented in various ways.

一实施例中，如图9所示，该步骤S132可以包括：In an embodiment, as shown in FIG. 9 , the step S132 may include:

步骤S1321，获取操作末端器械的当前位置。Step S1321, acquiring the current position of the operation end device.

步骤S1322，根据操作末端器械的当前位置，通过改变图像末端器械的相机参数来调节图像末端器械的视野以使操作末端器械位于图像末端器械的视野以内。Step S1322, according to the current position of the operation end instrument, adjust the field of view of the image end instrument by changing the camera parameters of the image end instrument so that the operation end instrument is located within the field of view of the image end instrument.

其中，相机参数包括视场角及/或景深。如果预先计算出仅调节相机参数即可同时覆盖操作末端器械的当前位置和目标位置，就可以采用该方式，使得可以保持图像末端器械的位姿。The camera parameters include an angle of view and/or a depth of field. If it is pre-calculated that only adjusting the camera parameters can cover the current position and the target position of the operation end instrument at the same time, this method can be adopted, so that the pose of the image end instrument can be maintained.

另一实施例中，如图10所示，该步骤S132还可以包括：In another embodiment, as shown in FIG. 10 , the step S132 may further include:

步骤S1321’，获取操作末端器械的当前位置。Step S1321', obtaining the current position of the operation end device.

步骤S1322’，根据操作末端器械的当前位置，通过改变图像末端器械的位姿来调节图像末端器械的视野以使操作末端器械位于图像末端器械的视野以内。Step S1322', according to the current position of the operation end device, adjust the field of view of the image end device by changing the pose of the image end device so that the operation end device is located within the field of view of the image end device.

其中，位姿包括位置及/或姿态。如果预先计算出仅调节图像末端器械的位姿即可覆盖操作末端器械的当前位置到目标位置之间的区域，就可以采用该方式，使得可以保持图像末端器械的相机参数。The pose includes a position and/or an attitude. If it is pre-calculated that only adjusting the pose of the image end device can cover the area between the current position of the operation end device and the target position, this method can be adopted, so that the camera parameters of the image end device can be maintained.

以多孔手术机器人为例，请参阅图11至图13。假设如图11所示，相机臂的图像末端器械的当前位置为B0，手术臂的操作末端器械的当前位置为A0，B0的视野为目标视野，A0位于该目标视野以外。一实施例中，可如图12所示，保持图像末端器械的当前位置B0不变，通过调节图像末端器械的相机参数如视场角以调节视野，使得A0落入调节后的视野以内。一实施例中，可如图13所示，保持图像末端器械的相机参数不变，通过调节图像末端器械的位姿如位置为B1以调节视野，使得A0落入调节后的视野以内。Take the porous surgical robot as an example, please refer to Figure 11 to Figure 13. Assume that as shown in Figure 11, the current position of the image end instrument of the camera arm is B0, the current position of the operation end instrument of the operating arm is A0, the field of view of B0 is the target field of view, and A0 is outside the target field of view. In one embodiment, as shown in FIG. 12 , the current position B0 of the device at the end of the image is kept unchanged, and the field of view is adjusted by adjusting the camera parameters of the device at the end of the image, such as the field of view, so that A0 falls within the adjusted field of view. In one embodiment, as shown in FIG. 13 , the camera parameters of the device at the end of the image can be kept unchanged, and the field of view can be adjusted by adjusting the pose of the device at the end of the image, such as position B1, so that A0 falls within the adjusted field of view.

当然，这对于单孔手术机器人也是适用的，请参阅图14至图16。假设如图14所示，相机臂的图像末端器械的当前位置为B0，手术臂的操作末端器械的当前位置为A0，B0的视野为目标视野，A0位于该目标视野以外。一实施例中，如图15所示，保持图像末端器械的相机参数不变，通过调节图像末端器械的位姿如位置为B1以调节视野，使得A0落入调节后的视野以内；如图16所示，同样保持图像末端器械的相机参数不变，通过调节图像末端器械的位姿为B1以调节视野，使得A0落入调节后的视野以内。当然，一些情况下，也可以保持图像末端器械的当前位置B0不变，通过调节图像末端器械的相机参数如视场角以调节视野，使得A0落入调节后的视野以内，图未示意。Of course, this also applies to single-port surgical robots, see Figures 14 to 16. Assume that as shown in Figure 14, the current position of the image end instrument of the camera arm is B0, the current position of the operation end instrument of the operating arm is A0, the field of view of B0 is the target field of view, and A0 is outside the target field of view. In one embodiment, as shown in FIG. 15 , the camera parameters of the image end device are kept unchanged, and the field of view is adjusted by adjusting the pose of the image end device, such as the position B1, so that A0 falls within the adjusted field of view; as shown in FIG. 16 . As shown in the figure, the camera parameters of the image end device are also kept unchanged, and the field of view is adjusted by adjusting the pose of the image end device to B1, so that A0 falls within the adjusted field of view. Of course, in some cases, the current position B0 of the device at the end of the image can also be kept unchanged, and the field of view can be adjusted by adjusting the camera parameters of the device at the end of the image, such as the field of view, so that A0 falls within the adjusted field of view, which is not shown in the figure.

如图12和图13所示，在图像末端器械的视野包括操作末端器械的当前位置和目标位置时，可以保持图像末端器械的视野不变，直接根据该视野引导操作末端器械从当前位置移动到目标位置。As shown in Fig. 12 and Fig. 13 , when the field of view of the image end device includes the current position and the target position of the operation end device, the field of view of the image end device can be kept unchanged, and the operation end device can be directly guided to move from the current position to the target position according to the field of view. target location.

如图15所示，在图像末端器械的视野没有包括操作末端器械的目标位置时，可以如图17所示，保持图像末端器械的视野不变，根据该视野先引导操作末端器械从A0移动到A1，再如图18所示，保持操作末端器械的位置，通过调节图像末端器械的位置向目标位置移动(移动到位置B2)并确保操作末端器械位于其视野内而调节视野向目标位置移动，然后再根据该视野先引导操作末端器械移动，周期性操作直至操作末端器械到达目标位置。As shown in FIG. 15 , when the field of view of the image end instrument does not include the target position of the operation end instrument, as shown in FIG. 17 , the field of view of the image end instrument can be kept unchanged, and the operation end instrument can be guided to move from A0 to A1, as shown in Fig. 18, keep the position of the operation end device, adjust the field of view to move to the target position by adjusting the position of the image end device to move to the target position (moving to position B2) and ensure that the operation end device is within its field of view, Then, according to the field of view, the end device is guided to move, and the end device is operated periodically until the end device reaches the target position.

或者如图16所示，在图像末端器械的视野没有包括操作末端器械的目标位置时，可以如图19所示，保持图像末端器械的视野不变，根据该视野先引导操作末端器械从A0移动到A1，再如图20所示，保持操作末端器械的位置，通过调节图像末端器械的位置和姿态向目标位置移动(移动到位姿B2)并确保操作末端器械位于其视野内而调节视野向目标位置移动，然后再根据该视野先引导操作末端器械移动，周期性操作直至操作末端器械到达目标位置。Or as shown in Fig. 16, when the field of view of the image end instrument does not include the target position of the operation end instrument, as shown in Fig. 19, the field of view of the image end instrument can be kept unchanged, and the operation end instrument is first guided to move from A0 according to the field of view. Go to A1, and then as shown in Figure 20, keep the position of the operation end device, adjust the position and posture of the end device in the image to move to the target position (moving to the position B2) and ensure that the operation end device is within its field of view to adjust the field of view to the target. position movement, and then guide the operation end device to move according to the field of view, and operate periodically until the operation end device reaches the target position.

图11至图20示意了手术臂***操作的实施例，当然，这些方法或原理即使对于手术臂撤回操作也是适用的。Figures 11-20 illustrate embodiments of surgical arm insertion operations, although of course these methods or principles are applicable even for surgical arm retraction operations.

一些实施例中，该两种方式也可以相互结合来共同调节图像末端器械的视野以更好地向操作末端器械的当前位置及/或目标位置移动以使当前位置及/或目标位置能够落入图像末端器械的视野内。例如，可以优先调节图像末端器械的位姿；又例如，可以优先调节图像末端器械的相机参数。优先调节的对象(即图像末端器械的位姿及相机参数)可以根据医生输入的指令来进行配置。例如，优先调节对象是图像末端器械的位姿时，将会尽量调节图像末端器械的位姿以使其视野向操作末端器械的当前位置及/或目标位置移动，如果移动达到极限时图像末端器械的视野还未覆盖操作末端器械的当前位置及/或目标位置，则辅以调节图像末端器械的相机参数来使得图像末端器械的视野覆盖操作末端器械的当前位置及/或目标位置。优先调节对象是图像末端器械的相机参数时，将会尽量调节图像末端器械的相机参数以使其视野向操作末端器械的当前位置及/或目标位置移动，如果移动达到极限时图像末端器械的视野还未覆盖操作末端器械的当前位置及/或目标位置，则辅以调节图像末端器械的位姿来使得图像末端器械的视野覆盖操作末端器械的当前位置及/或目标位置。In some embodiments, these two methods can also be combined with each other to jointly adjust the field of view of the image end instrument to better move toward the current position and/or target position of the operation end instrument so that the current position and/or target position can fall into the within the field of view of the instrument at the end of the image. For example, the pose of the instrument at the end of the image may be preferentially adjusted; for another example, the camera parameters of the instrument at the end of the image may be preferentially adjusted. The object to be adjusted preferentially (ie the pose and camera parameters of the image end device) can be configured according to the instructions input by the doctor. For example, when the priority adjustment object is the pose of the image end device, the pose of the image end device will be adjusted as much as possible to move its field of view to the current position and/or target position of the operation end device. If the movement reaches the limit, the image end device If the field of view of the image end instrument does not cover the current position and/or the target position of the operation end instrument, the camera parameters of the image end instrument are adjusted to make the field of view of the image end instrument cover the current position and/or the target position of the operation end instrument. When the priority adjustment object is the camera parameters of the device at the end of the image, the camera parameters of the device at the end of the image will be adjusted as much as possible to make its field of view move to the current position and/or the target position of the device at the end of the operation. If the movement reaches the limit, the field of view of the device at the end of the image If the current position and/or the target position of the operation end instrument has not been covered, the pose of the image end instrument is adjusted to make the field of view of the image end instrument cover the current position and/or the target position of the operation end instrument.

一些实施例中，即使仅是调节图像末端器械的位姿，也可以为其设定优先级，例如，可以优先调节姿态；又例如，可以优先调节位置。相似的，即使仅是调节图像末端器械的相机参数，也可以为其设定优先级，例如，可以优先调节视场角；又例如，可以优先调节景深。优先调节的对象(即位姿中的姿态及位置，及/或相机参数中的视场角及景深)同样可以根据医生输入的指令来进行配置。In some embodiments, even if it is only to adjust the posture of the apparatus at the end of the image, a priority can be set for it, for example, the posture can be adjusted preferentially; for example, the position can be preferentially adjusted. Similarly, even if the camera parameters of the apparatus at the end of the image are only adjusted, a priority can be set for it, for example, the angle of view can be adjusted preferentially; for example, the depth of field can be adjusted preferentially. The objects to be adjusted preferentially (ie, the posture and position in the pose, and/or the field of view and the depth of field in the camera parameters) can also be configured according to the instructions input by the doctor.

一些实施例中，可以配置多层次优先级来调节图像末端器械的视野，并根据配置的优先级逐级调节图像末端器械的相应参数以对实现视野的调节，直至视野可以覆盖操作末端器械的当前位置及/或目标位置。例如，第一层次的优先级为调节图像末端器械的位姿，第二层次的优先级为调节图像末端器械的位姿中的姿态，第三层次的优先级为调节图像末端器械的相机参数中的视场角。假设结合对图像末端器械的位姿及相机参数的调节可以达到操作末端器械的当前位置及/或目标位置，其整个工作过程大致为：In some embodiments, multi-level priorities can be configured to adjust the field of view of the end-of-image instrument, and corresponding parameters of the end-of-image instrument can be adjusted step by step according to the configured priorities to adjust the field of view until the field of view can cover the current view of the end-of-view instrument. location and/or target location. For example, the priority of the first level is to adjust the pose of the equipment at the end of the image, the priority of the second level is to adjust the pose of the equipment at the end of the image, and the priority of the third level is to adjust the camera parameters of the equipment at the end of the image. field of view. Assuming that the current position and/or target position of the operation end device can be achieved by adjusting the pose and camera parameters of the image end device, the entire working process is roughly as follows:

先调节图像末端器械的姿态达到视野可达极限；First adjust the posture of the image end device to reach the limit of the field of view;

如果此时视野可覆盖操作末端器械的当前位置及/或目标位置，调节完成；如果此时视野不能覆盖操作末端器械的当前位置及/或目标位置，再调节图像末端器械的位置达到视野可达极限；If the field of view can cover the current position and/or target position of the instrument at the end of the operation at this time, the adjustment is completed; if the field of view cannot cover the current position and/or the target position of the instrument at the end of the operation, adjust the position of the instrument at the end of the image until the field of view can reach limit;

如果此时视野可覆盖操作末端器械的当前位置及/或目标位置，调节完成；如果仍不能覆盖操作末端器械的当前位置及/或目标位置，进一步调节图像末端器械的视场角达到视野可达极限；If the field of view can cover the current position and/or target position of the instrument at the end of the operation at this time, the adjustment is completed; if it still cannot cover the current position and/or the target position of the instrument at the end of the operation, further adjust the field of view of the instrument at the end of the image to reach limit;

如果此时视野可覆盖操作末端器械的当前位置及/或目标位置，调节完成；如果此时视野不能覆盖操作末端器械的当前位置及/或目标位置，再调节图像末端器械的景深达到视野可达极限，此时视野应该能够覆盖操作末端器械的当前位置及/或目标位置。If the field of view can cover the current position and/or target position of the instrument at the end of the operation at this time, the adjustment is completed; if the field of view cannot cover the current position and/or the target position of the instrument at the end of the operation, adjust the depth of field of the instrument at the end of the image to reach the field of view. At the limit, the field of view should be able to cover the current position and/or the target position of the operation end device.

一实施例中，如图21所示，上述步骤S12，即调节图像末端器械的视野向目标位置移动的步骤包括：In one embodiment, as shown in FIG. 21 , the above step S12, that is, the step of adjusting the visual field of the image end device to move to the target position includes:

步骤S121，获取操作末端器械的当前位置。Step S121, acquiring the current position of the operation end device.

步骤S122，根据操作末端器械的当前位置和目标位置确定图像末端器械的视野的调节方向。Step S122: Determine the adjustment direction of the visual field of the image terminal device according to the current position and the target position of the operation terminal device.

该调节方向与根据操作末端器械的当前位置和目标位置规划的路径上的途经点始终相切。例如，该规划的路径为连接该当前位置与目标位置的直线时，该调节方向即为直线的延伸方向，更具体为当前位置向目标位置的方向。The adjustment direction is always tangent to the waypoint on the path planned according to the current position and target position of the operating end device. For example, when the planned path is a straight line connecting the current position and the target position, the adjustment direction is the extension direction of the straight line, more specifically the direction from the current position to the target position.

步骤S123，根据调节方向以增量方式调节图像末端器械的视野向操作末端器械的目标位置移动。Step S123 , according to the adjustment direction, the visual field of the image end device is incrementally adjusted to move toward the target position of the operation end device.

在该步骤S123中，可以对图像末端器械的视野的移动进行约束。例如，约束上述的某个途经点应当位于图像末端器械的视野中的某个位置，例如位于该视野的中心或者与该视野具有特定位置关系的某点处。例如，还可以对图像末端器械的视野的移动进行其它方面的约束。例如，约束图像末端器械的视野移动后的、与该视野具有特定位置关系的某点与实时更新的操作末端器械的当前位置在特定方向上保持特定距离。In this step S123, the movement of the field of view of the image end device may be constrained. For example, it is constrained that a certain waypoint mentioned above should be located at a certain position in the field of view of the image end instrument, such as at the center of the field of view or at a point that has a specific positional relationship with the field of view. For example, the movement of the field of view of the image end instrument may also be constrained in other aspects. For example, a point that has a specific positional relationship with the field of view of the end device of the image after the movement of the field of view is constrained to maintain a specific distance in a specific direction from the current position of the operation end device updated in real time.

一实施例中，还可以令各相邻时刻的图像末端器械的视野分别为第一视野和第二视野，并约束第一视野和第二视野之间具有重叠区域，限定操作末端器械途经重叠区域向目标位置移动，这样能够保证操作末端器械始终位于视野内。In one embodiment, the visual fields of the end-of-image instruments at each adjacent moment may be the first visual field and the second visual field, respectively, and the overlapping area between the first visual field and the second visual field is constrained to limit the overlapping area of the operation end instrument passing through. Move towards the target position so that the end-of-sight instrument is always within the field of view.

其中，该步骤S123可以根据调节方向以逐步调节图像末端器械的视场角及/或景深的方式调节图像末端器械的视野向操作末端器械的目标位置移动。此外，该步骤S123还可以根据调节方向以逐步调节图像末端器械的位置及/或姿态的方式调节图像末端器械的视野向操作末端器械的目标位置移动。当然，两者也可以相互结合使用，具体可以参照前文的调节图像末端器械的视野以使操作末端器械位于图像末端器械的视野以内的实施例所记载的方案，此处不再重复赘述。Wherein, in this step S123, according to the adjustment direction, the field of view of the image terminal device can be adjusted to move toward the target position of the operation terminal device by gradually adjusting the field angle and/or the depth of field of the image terminal device. In addition, in this step S123, the visual field of the image end device may be adjusted to move toward the target position of the operation end device by gradually adjusting the position and/or posture of the image end device according to the adjustment direction. Of course, the two can also be used in combination with each other. For details, refer to the solution described in the previous embodiment of adjusting the field of view of the image end device so that the operation end device is located within the field of view of the image end device, which will not be repeated here.

通常，不同的操作需求对应具有不同的操作末端器械的目标位置。一实施例中，如图22所示，上述步骤S11，即获取期望操作末端器械到达的目标位置的步骤包括：Typically, different manipulation requirements correspond to target positions with different manipulation end instruments. In one embodiment, as shown in FIG. 22 , the above-mentioned step S11, that is, the step of obtaining the target position expected to be reached by the operation end device includes:

步骤S111，获取输入的操作模式。Step S111, acquiring the input operation mode.

其中，操作模式包括但不限于第一操作模式和第二操作模式，例如，第一操作模式用于引导操作末端器械***至目标位置，其适用场景包括但不限于手术前将手术臂从患者体外***体内的场景；第二操作模式用于引导操作末端器械撤回至目标位置，其适用场景包括但不限于手术过程中更换手术臂、手术结束时收回手术臂的场景。The operation modes include but are not limited to a first operation mode and a second operation mode. For example, the first operation mode is used to guide the insertion of the operation end instrument to the target position, and its applicable scenarios include but are not limited to removing the surgical arm from the patient's body before surgery. The scenario of insertion into the body; the second operation mode is used to guide the operation end instrument to withdraw to the target position, and its applicable scenarios include but are not limited to the scenario of replacing the operating arm during the operation and retracting the operating arm at the end of the operation.

步骤S112，根据获取到的操作模式确定期望操作末端器械到达的目标位置。Step S112: Determine the target position expected to be reached by the operation end device according to the acquired operation mode.

一实施例中，在获取到的操作模式是第一操作模式时，如图23所示，上述步骤S112，即根据获取到的操作模式确定期望操作末端器械到达的目标位置的步骤包括：In one embodiment, when the acquired operation mode is the first operation mode, as shown in FIG. 23 , the above-mentioned step S112, that is, the step of determining the target position expected to be reached by the operation terminal device according to the acquired operation mode includes:

步骤S1121，获取图像末端器械的目标视野。Step S1121, acquiring the target field of view of the image end device.

该目标视野例如可以根据医生对某一时刻对应的视野的确认而将被确认的视野作为目标视野，手术通常在该目标视野下实施。例如，医生在手术前通常先向患者体内***相机臂，利用相机臂的图像末端器械观察并确定合适于手术实施的视野，在接收到由医生触发的确认指令后，将对应于确认指令产生时刻所对应的视野作为上述的目标视野。The target field of view may be, for example, the confirmed field of view as the target field of view according to the doctor's confirmation of the field of view corresponding to a certain moment, and surgery is usually performed under the target field of view. For example, a doctor usually inserts a camera arm into the patient before surgery, and uses the image end device of the camera arm to observe and determine the field of view suitable for the operation. The corresponding field of view is used as the above-mentioned target field of view.

步骤S1122，根据目标视野确定期望操作末端器械到达的目标位置。Step S1122: Determine the target position expected to be reached by the operation terminal device according to the target field of view.

该目标位置是与目标视野具有特定位置关系的一个点。该目标位置举例为包括但不限于目标视野的中心，或者偏离于目标视野的中心且与手术臂的连杆的延伸方向相交的某一点。该目标位置例如在图11和图14中为目标视野中的点M，其中，图11中，示例了点M非目标视野的中心，图14中示意了点M为目标视野的中心。The target location is a point that has a specific positional relationship with the target field of view. The target position includes, but is not limited to, the center of the target field of view, or a point deviating from the center of the target field of view and intersecting with the extending direction of the connecting rod of the operating arm. The target position is, for example, the point M in the target field of view in FIG. 11 and FIG. 14 , wherein, in FIG. 11 , the point M is exemplified as not the center of the target field of view, and FIG. 14 shows that the point M is the center of the target field of view.

一实施例中，被配置成执行第一操作模式的两个以上的操作末端器械具有不同的目标位置，进一步地，不同目标位置之间通常具有安全的距离，以避免操作末端器械之间的碰撞。例如，这些目标位置中，可以允许其中一个为目标视野的中心点，其余为目标视野的中心以外的某个特定点。In one embodiment, two or more operation end instruments configured to perform the first operation mode have different target positions, and further, the different target positions generally have a safe distance to avoid collisions between the operation end instruments . For example, among these target positions, one can be allowed to be the center point of the target field of view, and the rest can be a specific point outside the center of the target field of view.

一实施例中，当需要引导至目标位置的操作末端器械为两个以上时，通常可以逐个进行引导，也即引导完成一个操作末端器械到达目标位置后，再引导另外的一个操作末端器械到达目标位置，直至全部操作末端器械均被引导到目标位置。In one embodiment, when there are more than two end-operating instruments that need to be guided to the target position, they can usually be guided one by one, that is, after one end-operating instrument is guided to the target position, another end-operating instrument is guided to the target. position until all operating end instruments are guided to the target position.

手术机器人包括穿刺器，穿刺器近端可拆卸地连接于手术机器人的远端、远端***并固定于切口处，穿刺器用于引导手术臂通过切口***人体。一实施例中，在获取到的操作模式是第二操作模式时，上述步骤S112，即根据获取到的操作模式确定期望操作末端器械到达的目标位置的步骤可以为：获取与穿刺器关联的某一点的位置以作目标位置。其中，作为目标位置的关联于穿刺器的点可以位于穿刺器上，也可以位于穿刺器的轴的延长线上且位于穿刺器的远端侧，穿刺器通常具有筒状的***部，这里的轴通常指该***部的中心轴。The surgical robot includes a trocar, the proximal end of the trocar is detachably connected to the distal end of the surgical robot, the distal end is inserted and fixed at the incision, and the trocar is used to guide the surgical arm to be inserted into the human body through the incision. In one embodiment, when the acquired operation mode is the second operation mode, the above-mentioned step S112, that is, the step of determining the target position to which the terminal device is expected to be operated according to the acquired operation mode may be: acquiring a certain information associated with the trocar. The position of one point is used as the target position. Wherein, the point associated with the trocar as the target position may be located on the trocar, or may be located on an extension of the shaft of the trocar and on the distal side of the trocar, and the trocar usually has a cylindrical insertion portion, where the Shaft generally refers to the central axis of the insert.

上述实施例中，图像末端器械与目标位置之间具有安全的距离，以防止图像末端器械与操作末端器械之间发生碰撞。In the above embodiment, there is a safe distance between the image end device and the target position to prevent collision between the image end device and the operation end device.

一些实施例中，如图24所示，本申请的方法还可以包括：In some embodiments, as shown in FIG. 24 , the method of the present application may further include:

步骤S141，获取操作末端器械的当前位置。Step S141, acquiring the current position of the operation end device.

步骤S142，在操作末端器械从当前位置基本移动到目标位置时，调节图像末端器械的视野恢复成初始视野。Step S142, when the operation end device basically moves from the current position to the target position, adjust the visual field of the image end device to restore the initial visual field.

其中，操作末端器械从当前位置是否基本移动到目标位置可以由***自动判断，也可以由医生判断。例如，***自动判断情况下，在该当前位置(实时更新的)与目标位置之间的偏差小于偏差阈值时，***可判断该当前位置基本到达目标位置。此外，医生的判断通常应当是有条件的，例如，在该当前位置与目标位置之间的偏差小于偏差阈值时，获取的由医生输入的关联于该当前位置基本到达目标位置的确认指令才被认位是有效的；或者，只有在该当前位置与目标位置之间的偏差小于偏差阈值时，***才允许医生输入上述的确认指令，这样的设计可以起到前置判断的作用。Wherein, whether the operation end device basically moves from the current position to the target position can be automatically judged by the system or judged by the doctor. For example, in the case of automatic judgment by the system, when the deviation between the current position (updated in real time) and the target position is less than the deviation threshold, the system can judge that the current position basically reaches the target position. In addition, the doctor's judgment should usually be conditional. For example, when the deviation between the current position and the target position is smaller than the deviation threshold, the obtained confirmation instruction input by the doctor and related to the current position basically reaching the target position will be used. The recognition is valid; or, only when the deviation between the current position and the target position is less than the deviation threshold, the system allows the doctor to input the above confirmation command, and this design can play the role of pre-judgment.

该初始视野指图像末端器械初次被调节前一时刻的视野。例如，对于执行第一操作模式的操作末端器械而言，该初始视野是由医生确认的目标视野。对于执行第二操作模式的操作末端器械而言，该初始视野同样可以是由医生确认的目标视野。The initial field of view refers to the field of view at the moment before the image end device is first adjusted. For example, for an operating end instrument performing the first mode of operation, the initial field of view is the target field of view confirmed by the physician. For the operation end instrument that performs the second operation mode, the initial field of view may also be the target field of view confirmed by the doctor.

在上述步骤S142中，可以用多种方式实现调节图像末端器械恢复成初始视野的目的。In the above step S142, the purpose of adjusting the image end device to restore the initial field of view can be achieved in various ways.

一实施方式中，在执行上述步骤S12，即调节图像末端器械的视野向目标位置移动的步骤中，包括：实时记录图像末端器械的视野向目标位置移动过程中对应时刻图像末端器械的相机参数及其位姿的变化。进而在上述步骤S142中，即调节图像末端器械的视野恢复成初始视野的步骤中，根据记录的图像末端器械的对应时刻的相机参数及位姿反向逐步将图像末端器械的视野恢复成初始视野。In one embodiment, performing the above step S12, that is, the step of adjusting the field of view of the image terminal device to move to the target position, includes: recording in real time the camera parameters of the image terminal device at the corresponding moment during the process of moving the field of view of the image terminal device to the target position and the image terminal device. changes in its posture. Furthermore, in the above step S142, that is, in the step of adjusting the field of view of the image terminal device to restore the initial field of view, the field of view of the image terminal device is gradually restored to the initial field of view according to the recorded camera parameters and the reverse pose of the image terminal device at the corresponding time. .

假设从T0时刻到Tn时刻，对应时刻调节图像末端器械的视野的指令参数如下表所示：Assuming that from time T0 to time Tn, the command parameters for adjusting the field of view of the image end device at the corresponding time are shown in the following table:

时刻time	T0T0	T1T1	T2T2	T3T3	……	TnTn
指令参数Instruction parameters	C0C0	C1C1	C2C2	C3C3	……	CnCn

其中，T0为图像末端器械的视野开始向目标位置移动前的时刻，Tn为图像末端器械的视野达到目标位置的时刻，T0～Tn之间的时刻为中间时刻，C0～Cn为对应T0～Tn时刻的指令参数。其中，指令参数包括相机参数和位姿中的一种以上，具体根据调节图像末端器械的视野的方式而确定。其中，通过指令参数C0可以获取得到初始视野。Among them, T0 is the time before the field of view of the image end device starts to move to the target position, Tn is the time when the field of view of the image end device reaches the target position, the time between T0 and Tn is the middle time, and C0 to Cn are the corresponding T0 to Tn. The command parameter of the moment. The instruction parameters include one or more of camera parameters and poses, which are specifically determined according to the method of adjusting the field of view of the image end device. The initial field of view can be obtained through the command parameter C0.

一实施例中，可以根据视野调整方式将图像末端器械的视野逐步调整以恢复成初始视野，视野调整方式为将后一时刻的相机参数及位姿调整为相邻的前一时刻的相机参数及位姿的调整方式，这里的相邻可以是连续相邻或者间隔相邻。例如，可以反向执行Tn～T0时刻所对应的全部指令参数Cn～C0以将图像末端器械的视野恢复成初始视野。又例如，可以反向执行Tn～T0时刻中的部分时刻所对应的指令参数以将图像末端器械的视野恢复成初始视野，例如，执行Tn、T3、T0时刻对应的指令参数Cn、C3、C0以将图像末端器械的视野恢复成初始视野。该方式简单快速。In one embodiment, the field of view of the device at the end of the image can be gradually adjusted to restore the initial field of view according to the field of view adjustment method. The adjustment method of the pose, where the neighbors can be continuous neighbors or spaced neighbors. For example, all the command parameters Cn to C0 corresponding to the times Tn to T0 can be reversely executed to restore the field of view of the image end device to the initial field of view. For another example, the command parameters corresponding to some of the moments Tn to T0 can be reversely executed to restore the field of view of the image end device to the initial field of view, for example, the command parameters Cn, C3, C0 corresponding to the moments Tn, T3, and T0 are executed To restore the field of view of the end-of-image instrument to the original field of view. This method is simple and fast.

另一实施方式中，在执行上述步骤S12，即调节图像末端器械的视野向目标位置移动的步骤中，包括：获取并记录图像末端器械的当前视野所对应的相机参数及位姿。进而在上述步骤S142，即调节图像末端器械的视野恢复成初始视野的步骤中，根据记录的图像末端器械的当前视野所对应的相机参数及位姿直接将图像末端器械的视野恢复成初始视野。也即，参考上表各时刻对应的指令参数，可以直接执行T0时刻对应的指令参数C0即可将图像末端器械的视野恢复成初始视野。该方式更加简单快速。In another embodiment, performing the above step S12, ie, the step of adjusting the field of view of the image terminal device to move to the target position, includes: acquiring and recording camera parameters and poses corresponding to the current field of view of the image terminal device. Further, in the above step S142, that is, the step of adjusting the field of view of the image terminal device to restore the initial field of view, the field of view of the image terminal device is directly restored to the initial field of view according to the recorded camera parameters and poses corresponding to the current field of view of the image terminal device. That is, with reference to the command parameters corresponding to each time in the above table, the command parameter C0 corresponding to time T0 can be directly executed to restore the field of view of the image end device to the initial field of view. This method is simpler and faster.

一些实施例中，如图25所示，本申请的方法还可以包括：In some embodiments, as shown in FIG. 25 , the method of the present application may further include:

步骤S151，判断操作末端器械是否位于图像末端器械的视野以内。Step S151, it is judged whether the operation end device is located within the field of view of the image end device.

步骤S152，在操作末端器械没有位于图像末端器械的视野以内时，禁止操作末端器械移动。Step S152, when the operation end device is not located within the visual field of the image end device, the operation end device is prohibited from moving.

通过上述步骤S151～步骤S155，可以防止操作末端器械出图像末端器械外，因而可以进一步确保安全性。Through the above-mentioned steps S151 to S155, the operation end device can be prevented from coming out of the image end device, so that safety can be further ensured.

一实施例中，上述步骤S151之前，即判断操作末端器械是否位于图像末端器械的视野以内的步骤之前，还包括：In an embodiment, before the above step S151, that is, before the step of judging whether the operation terminal device is located within the field of view of the image terminal device, the method further includes:

步骤S150，检测是否获取到启动指令。Step S150, detecting whether a startup instruction is obtained.

在步骤S150中获取到启动指令时，进入步骤S151，即进入判断操作末端器械是否位于图像末端器械的视野以内的步骤。When the activation instruction is acquired in step S150, the process proceeds to step S151, that is, the process proceeds to the step of judging whether the operation end device is located within the field of view of the image end device.

该启动指令包括但不限于由手术臂安装至动力机构时被触发产生，以及在手术臂安装至动力机构之后、由医生输入的确认指令触发。例如，动力机构上装设有传感器例如距离传感器，在手术臂装设于动力机构时，传感器检测出手术臂与动力机构之间的距离，在控制器判断出该距离小于等于预设值时，触发该启动指令的产生。The activation command includes, but is not limited to, being triggered when the surgical arm is installed on the power mechanism, and triggered by a confirmation command input by the doctor after the surgical arm is installed on the power mechanism. For example, a sensor such as a distance sensor is installed on the power mechanism. When the operating arm is installed on the power mechanism, the sensor detects the distance between the operating arm and the power mechanism, and when the controller determines that the distance is less than or equal to a preset value, triggering Generation of the start command.

一些实施例中，本申请的方法还可以包括：获取图像末端器械的视野的可达区间，视野的可达区间指全部视野的空间集合；获取操作末端器械的当前位置；判断操作末端器械的当前位置是否位于图像末端器械的视野的可达区间；在操作末端器械的当前位置位于图像末端器械的视野的可达区间时，进入调节图像末端器械的视野向目标位置移动的步骤。在操作末端器械的当前位置位于图像末端器械的视野的可达区间时，能够确保相应的操作可以在视野内完成。其中，操作末端器械的当前位置不能位于图像末端器械的视野的可达区间的问题多发生于多孔手术机器人，因此，可以提示医生调节手术臂的远心不动点使得后续调节了该远心不动点后能够满足操作末端器械的当前位置位于图像末端器械的视野的可达区间的条件。In some embodiments, the method of the present application may further include: acquiring the reachable range of the visual field of the image terminal device, where the reachable range of the visual field refers to the spatial set of all visual fields; acquiring the current position of the operating terminal device; judging the current position of the operating terminal device Whether the position is within the reachable range of the visual field of the end-of-image device; when the current position of the operation-end device is within the reachable range of the visual field of the end-of-image device, enter the step of adjusting the visual field of the end-of-image device to move to the target position. When the current position of the operation end device is within the reachable area of the visual field of the image end device, it can be ensured that the corresponding operation can be completed within the visual field. Among them, the problem that the current position of the operation end instrument cannot be located in the reachable range of the field of view of the image end instrument mostly occurs in the multi-hole surgical robot. Therefore, the doctor can be prompted to adjust the telecentric fixed point of the operating arm so that the telecentric inconsistency can be adjusted subsequently. After moving the point, the condition that the current position of the operation end device is located in the reachable area of the field of view of the image end device can be satisfied.

一些实施例中，在确保操作末端器械始终位于图像末端器械的视野以内的条件下，图像末端器械随着操作末端器械的移动而同步移动，也即两者的移动同时发生。图未示意。In some embodiments, under the condition that the operation end instrument is always located within the field of view of the image end instrument, the image end instrument moves synchronously with the movement of the operation end instrument, that is, the movement of both occurs simultaneously. Figure not shown.

一些实施例中，在确保操作末端器械始终位于图像末端器械的视野以内的条件下，图像末端器械随着操作末端器械的移动而滞后移动。如图15、图17及图18所示，或如图15、图19及图20所示。In some embodiments, the imaging end instrument moves with a lag as the operator end instrument moves, while ensuring that the operator end instrument is always within the field of view of the imaging end instrument. As shown in FIGS. 15 , 17 and 18 , or as shown in FIGS. 15 , 19 and 20 .

一些实施例中，本申请的方法还可以包括：在操作末端器械移动时，控制或称为约束操作末端器械基本沿着其当前位置向目标位置的方向直线移动。这样的限定尤其适用于手术准备过程中手术臂的***过程，因为这更接近现有的操作方式。In some embodiments, the method of the present application may further include: when the operation end instrument moves, controlling or restraining the operation end instrument to move substantially linearly along the direction of its current position to the target position. Such a definition is particularly applicable to the insertion process of the surgical arm during surgical preparation, as this is closer to the existing mode of operation.

一些实施例中，本申请的方法还可以包括：计算操作末端器械的移动方向与操作末端器械的当前位置和目标位置之间的连接线的偏离角；在偏离角达到偏离阈值时，至少产生阻碍操作末端器械在偏离方向上移动的阻力。该连接线例如是该当前位置和目标位置之间的直线。In some embodiments, the method of the present application may further include: calculating the deviation angle of the connecting line between the moving direction of the operation end instrument and the current position and the target position of the operation end instrument; when the deviation angle reaches the deviation threshold, at least an obstacle is generated. The resistance to movement of the manipulation end instrument in the deviated direction. The connecting line is, for example, a straight line between the current position and the target position.

一实施例中，阻力的大小与偏离角的大小呈正相关，例如线性正相关或者阶梯式正相关。In one embodiment, the magnitude of the resistance is positively correlated with the magnitude of the deviation angle, such as a linear positive correlation or a stepped positive correlation.

一实施例中，提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，计算机程序被配置为由处理器加载并执行实现如下步骤：获取期望所述操作末端器械到达的目标位置；在所述操作末端器械位于所述图像末端器械的视野以内时，调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内。In one embodiment, a computer-readable storage medium is provided, the computer-readable storage medium stores a computer program, the computer program is configured to be loaded by a processor and executed to achieve the steps of: obtaining a target that the end-of-operation device is expected to reach position; when the operation end instrument is located within the field of view of the image end instrument, adjust the field of view of the image end instrument to move to the target position, and ensure that the operation end instrument is always in the field of view of the image end instrument within.

一实施例中，提供一种手术机器人的控制装置。如图26所示，该控制装置可以包括：处理器(processor)501、通信接口(Communications Interface)502、存储器(memory)503、以及通信总线504。In one embodiment, a control device of a surgical robot is provided. As shown in FIG. 26 , the control device may include: a processor (processor) 501 , a communication interface (Communications Interface) 502 , a memory (memory) 503 , and a communication bus 504 .

处理器501、通信接口502、以及存储器503通过通信总线504完成相互间的通信。The processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 .

通信接口502，用于与其它设备比如各类传感器或电机或电磁阀或其它客户端或服务器等的网元通信。The communication interface 502 is used to communicate with network elements of other devices such as various types of sensors or motors or solenoid valves or other clients or servers.

处理器501，用于执行程序505，具体可以执行上述方法实施例中的相关步骤。The processor 501 is configured to execute the program 505, and specifically may execute the relevant steps in the foregoing method embodiments.

具体地，程序505可以包括程序代码，该程序代码包括计算机操作指令。Specifically, the program 505 may include program code including computer operation instructions.

处理器505可能是中央处理器CPU，或者是特定集成电路ASIC(ApplicationSpecific Integrated Circuit)，或者是被配置成实施本申请实施例的一个或多个集成电路，或者是图形处理器GPU(Graphics Processing Unit)。控制装置包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU，或者，一个或多个GPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个GPU。The processor 505 may be a central processing unit (CPU), or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, or a graphics processing unit (GPU) (Graphics Processing Unit). ). One or more processors included in the control device may be the same type of processors, such as one or more CPUs, or one or more GPUs; or may be different types of processors, such as one or more CPUs and one or more GPUs.

存储器503，用于存放程序505。存储器503可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。The memory 503 is used to store the program 505 . The memory 503 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

程序505具体可以用于使得处理器501执行以下操作：获取期望所述操作末端器械到达的目标位置；在所述操作末端器械位于所述图像末端器械的视野以内时，调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内。The program 505 can specifically be used to cause the processor 501 to perform the following operations: obtain a target position that the operation end instrument is expected to reach; and adjust the image end instrument when the operation end instrument is within the field of view of the image end instrument. The field of view is moved towards the target position and ensures that the manipulation end instrument is always within the field of view of the image end instrument.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

一种手术机器人中引导手术臂移动的方法，所述手术机器人具有多个操作臂，所述操作臂包括具有图像末端器械的相机臂和具有操作末端器械的手术臂，其特征在于，所述方法包括如下步骤：A method for guiding the movement of a surgical arm in a surgical robot, the surgical robot having a plurality of manipulation arms, the manipulation arms comprising a camera arm with an image end instrument and a surgical arm with an operation end instrument, characterized in that the method It includes the following steps:

获取期望所述操作末端器械到达的目标位置；obtaining the target position expected to be reached by the operating end device;

调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内。The field of view of the image end instrument is adjusted to move toward the target position, and it is ensured that the manipulation end instrument is always within the field of view of the image end instrument.
根据权利要求1所述的方法，其特征在于，在调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内的步骤之前，所述方法还包括：The method according to claim 1, wherein before the step of adjusting the field of view of the image end instrument to move toward the target position and ensuring that the manipulation end instrument is always within the field of view of the image end instrument, The method also includes:

判断所述操作末端器械是否位于所述图像末端器械的视野以内；judging whether the operation end device is located within the field of view of the image end device;

在所述操作末端器械没有位于所述图像末端器械的视野以内时，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内；Adjusting the field of view of the image end instrument so that the operation end instrument is within the field of view of the image end instrument when the operation end instrument is not within the field of view of the image end instrument;

在所述操作末端器械位于所述图像末端器械的视野以内时，进入调节所述图像末端器械的视野向所述目标位置移动，并确保所述操作末端器械始终位于所述图像末端器械的视野以内的步骤。When the operation end instrument is located within the field of view of the image end instrument, enter and adjust the field of view of the image end instrument to move to the target position, and ensure that the operation end instrument is always within the field of view of the image end instrument A step of.
根据权利要求2所述的方法，其特征在于，判断所述操作末端器械是否位于所述图像末端器械的视野以内的步骤包括：The method according to claim 2, wherein the step of judging whether the operation end device is located within the field of view of the image end device comprises:

获取所述图像末端器械的视野内的操作图像；acquiring an operation image within the field of view of the image end instrument;

通过图像识别所述操作末端器械是否位于所述操作图像内而判断所述操作末端器械是否位于所述图像末端器械的视野内。Whether or not the operation end instrument is located in the field of view of the image end instrument is determined by recognizing whether the operation end instrument is located within the operation image.
根据权利要求2所述的方法，其特征在于，判断所述操作末端器械是否位于所述图像末端器械的视野以内的步骤包括：The method according to claim 2, wherein the step of judging whether the operation end device is located within the field of view of the image end device comprises:

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

转换所述图像末端器械的视野为位置范围；converting the field of view of the image end device into a position range;

通过判断所述当前位置是否位于所述位置范围内而判断所述操作末端器械是否位于所述图像末端器械的视野内。It is judged whether the operation end instrument is within the field of view of the image end instrument by judging whether the current position is within the position range.
根据权利要求2所述的方法，其特征在于，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内的步骤包括：3. The method of claim 2, wherein the step of adjusting the field of view of the image end instrument so that the manipulation end instrument is within the field of view of the image end instrument comprises:

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

根据所述操作末端器械的当前位置，通过改变所述图像末端器械的相机参数来调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内，所述相机参数包括视场角及/或景深。According to the current position of the operation end instrument, the field of view of the image end instrument is adjusted by changing the camera parameters of the image end instrument so that the operation end instrument is located within the field of view of the image end instrument, the camera parameter Including field of view and/or depth of field.
根据权利要求2所述的方法，其特征在于，调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内的步骤包括：3. The method of claim 2, wherein the step of adjusting the field of view of the image end instrument so that the manipulation end instrument is within the field of view of the image end instrument comprises:

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

根据所述操作末端器械的当前位置，通过改变所述图像末端器械的位姿来调节所述图像末端器械的视野以使所述操作末端器械位于所述图像末端器械的视野以内，所述位姿包括位置及/或姿态。According to the current position of the operation end instrument, the field of view of the image end instrument is adjusted by changing the pose of the image end instrument so that the operation end instrument is located within the field of view of the image end instrument, and the pose Include position and/or attitude.
根据权利要求1所述的方法，其特征在于，调节所述图像末端器械的视野向所述目标位置移动的步骤包括：The method according to claim 1, wherein the step of adjusting the field of view of the image end device to move to the target position comprises:

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

根据所述操作末端器械的当前位置和目标位置确定所述图像末端器械的视野的调节方向；Determine the adjustment direction of the visual field of the image end device according to the current position and target position of the operation end device;

根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。The field of view of the image end instrument is incrementally adjusted to move toward the target position of the manipulation end instrument according to the adjustment direction.
根据权利要求7所述的方法，其特征在于，根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动的步骤为：根据所述调节方向以逐步调节所述图像末端器械的视场角及/或景深的方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。The method according to claim 7, wherein the step of incrementally adjusting the visual field of the image end device to move to the target position of the operation end device according to the adjustment direction is: according to the adjustment direction to The visual field of the image end device is adjusted to move toward the target position of the operation end device by gradually adjusting the field of view and/or the depth of field of the image end device.
根据权利要求7所述的方法，其特征在于，根据所述调节方向以增量方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动的步骤为：根据所述调节方向以逐步调节所述图像末端器械的位置及/或姿态的方式调节所述图像末端器械的视野向所述操作末端器械的目标位置移动。The method according to claim 7, wherein the step of incrementally adjusting the visual field of the image end device to move to the target position of the operation end device according to the adjustment direction is: according to the adjustment direction to The visual field of the image end device is adjusted to move toward the target position of the operation end device by gradually adjusting the position and/or posture of the image end device.
根据权利要求1所述的方法，其特征在于，获取期望所述操作末端器械到达的目标位置的步骤包括：The method of claim 1, wherein the step of obtaining the desired target position for the manipulation end device comprises:

获取输入的操作模式，所述操作模式包括第一操作模式和第二操作模式，所述第一操作模式用于引导所述操作末端器械***至目标位置，所述第二操作模式用于引导所述操作末端器械撤回至目标位置；An operation mode for obtaining the input, the operation mode including a first operation mode for guiding the insertion of the operation end instrument to the target position and a second operation mode for guiding all the The end device is withdrawn to the target position;

根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置。The target position expected to be reached by the operation end device is determined according to the acquired operation mode.
根据权利要求10所述的方法，其特征在于，在获取到的所述操作模式是第一操作模式时，根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置的步骤包括：The method according to claim 10, wherein when the acquired operation mode is the first operation mode, the step of determining the target position expected to be reached by the operation end device according to the acquired operation mode comprises the following steps: :

获取所述图像末端器械的目标视野；acquiring the target field of view of the image end device;

根据所述目标视野确定期望所述操作末端器械到达的目标位置。A target position expected to be reached by the manipulation end instrument is determined according to the target field of view.
根据权利要求11所述的方法，其特征在于，被配置成执行所述第一操作模式的两个以上的所述操作末端器械具有不同的目标位置。12. The method of claim 11, wherein two or more of the manipulation end instruments configured to perform the first mode of operation have different target positions.
根据权利要求11所述的方法，其特征在于，被配置成执行所述第一操作模式的两个以上的所述操作末端器械具有不同的目标位置，并且所述不同的目标位置之间具有安全的距离。12. The method of claim 11, wherein the two or more of the manipulation end instruments configured to perform the first mode of operation have different target positions with a safety margin between the different target positions the distance.
根据权利要求10所述的方法，其特征在于，所述手术机器人包括穿刺器，所述穿刺器近端连接于所述手术机器人的远端、远端用于***并固定于切口处，所述穿刺器用于引导所述手术臂通过所述切口***人体，在获取到的所述操作模式是第二操作模式时，根据获取到的所述操作模式确定期望所述操作末端器械到达的目标位置的步骤为：获取与所述穿刺器关联的关联点的位置以作所述目标位置。The method according to claim 10, wherein the surgical robot comprises a trocar, the proximal end of the trocar is connected to the distal end of the surgical robot, and the distal end is used for inserting and fixing at the incision, the The trocar is used to guide the operating arm to be inserted into the human body through the incision, and when the acquired operation mode is the second operation mode, the target position expected to be reached by the operation end instrument is determined according to the acquired operation mode. The steps are: acquiring the position of the associated point associated with the puncture device as the target position.
根据权利要求14所述的方法，其特征在于，作为所述目标位置的关联于所述穿刺器的关联点位于所述穿刺器上，或者位于所述穿刺器的轴的延长线上且位于所述穿刺器远端侧。15. The method of claim 14, wherein the point of association associated with the trocar as the target position is located on the trocar, or on an extension of the shaft of the trocar and at all the distal side of the trocar.
根据权利要求1所述的方法，其特征在于，所述图像末端器械与所述目标位置之间具有安全的距离。10. The method of claim 1, wherein the imaging tip instrument has a safe distance from the target location.
根据权利要求1所述的方法，其特征在于，所述方法包括：The method of claim 1, wherein the method comprises:

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

在所述操作末端器械从所述当前位置基本移动到所述目标位置时，调节所述图像末端器械的视野恢复成初始视野，所述初始视野指所述图像末端器械初次被调节前一时刻的视野。When the operation end instrument is substantially moved from the current position to the target position, the field of view of the image end instrument is adjusted to return to the initial field of view, and the initial field of view refers to the moment before the image end instrument is first adjusted. vision.
根据权利要求17所述的方法，其特征在于，调节所述图像末端器械的视野向所述目标位置移动的步骤包括：实时记录所述图像末端器械的视野向所述目标位置移动过程中对应时刻的相机参数及位姿的变化；调节所述图像末端器械的视野恢复成初始视野的步骤包括：根据视野调整方式将所述图像末端器械的视野逐步调整以恢复成所述初始视野，所述视野调整方式为将后一时刻的相机参数及位姿调整为相邻的前一时刻的相机参数及位姿的调整方式。The method according to claim 17, wherein the step of adjusting the field of view of the image end device to move to the target position comprises: recording in real time a corresponding moment in the process of moving the field of view of the image end device to the target position The step of adjusting the field of view of the image terminal device to restore the initial field of view includes: gradually adjusting the field of view of the image terminal device according to the field of view adjustment method to restore to the initial field of view, the field of view The adjustment method is an adjustment method of adjusting the camera parameters and pose of the next moment to the camera parameters and pose of the adjacent previous moment.
根据权利要求17所述的方法，其特征在于，在调节所述图像末端器械的视野向所述目标位置移动的步骤之前，所述方法包括：获取并记录所述图像末端器械的当前视野所对应的相机参数及位姿；调节所述图像末端器械的视野恢复成初始视野的步骤包括：根据记录的所述图像末端器械的当前视野所对应的相机参数及位姿直接将所述图像末端器械的视野恢复成所述初始视野。The method according to claim 17, wherein before the step of adjusting the field of view of the image end device to move to the target position, the method comprises: acquiring and recording the corresponding image of the current field of view of the image end device The step of adjusting the field of view of the image terminal device to restore the initial field of view includes: according to the recorded camera parameters and pose corresponding to the current field of view of the image terminal device, directly converting the image terminal device’s field of view The field of view is restored to the original field of view.
根据权利要求1所述的方法，其特征在于，所述方法包括：The method of claim 1, wherein the method comprises:

在所述操作末端器械没有位于所述图像末端器械的视野以内时，禁止所述操作末端器械移动。When the operation end instrument is not within the field of view of the image end instrument, movement of the operation end instrument is prohibited.
根据权利要求20所述的方法，其特征在于，所述方法还包括：The method of claim 20, wherein the method further comprises:

检测是否获取到启动指令；Check whether the startup command is obtained;

在获取到所述启动指令时，判断所述操作末端器械是否位于所述图像末端器械的视野以内。When the activation instruction is acquired, it is determined whether the operation end device is located within the field of view of the image end device.
根据权利要求21所述的方法，其特征在于，所述手术机器人包括用于安装及驱动所述操作臂的动力机构，所述启动指令由所述手术臂安装至所述动力机构时被触发产生。The method according to claim 21, wherein the surgical robot comprises a power mechanism for installing and driving the operating arm, and the start command is triggered and generated when the surgical arm is mounted on the power mechanism .
根据权利要求1所述的方法，其特征在于，所述方法包括：The method of claim 1, wherein the method comprises:

获取所述图像末端器械的视野的可达区间，所述视野的可达区间指全部视野的空间集合；Obtain the reachable interval of the visual field of the image terminal device, and the reachable interval of the visual field refers to the spatial collection of all visual fields;

获取所述操作末端器械的当前位置；obtaining the current position of the operating end device;

判断所述操作末端器械的当前位置是否位于所述图像末端器械的视野的可达区间；judging whether the current position of the operation terminal device is within the reachable range of the visual field of the image terminal device;

在所述操作末端器械的当前位置位于所述图像末端器械的视野的可达区间时，进入调节所述图像末端器械的视野向所述目标位置移动的步骤。When the current position of the operation end device is within the reachable range of the visual field of the image end device, the step of adjusting the visual field of the image end device to move to the target position is entered.
根据权利要求1所述的方法，其特征在于，在确保所述操作末端器械始终位于所述图像末端器械的视野以内的条件下，所述图像末端器械随着所述操作末端器械的移动而同步移动。2. The method of claim 1, wherein the imaging end instrument is synchronized with the movement of the procedure end instrument while ensuring that the procedure end instrument is always within the field of view of the imaging end instrument move.
根据权利要求1所述的方法，其特征在于，在确保所述操作末端器械始终位于所述图像末端器械的视野以内的条件下，所述图像末端器械随着所述操作末端器械的移动而滞后移动。2. The method of claim 1, wherein the imaging end instrument lags with movement of the procedure end instrument while ensuring that the procedure end instrument is always within the field of view of the imaging end instrument move.
根据权利要求1所述的方法，其特征在于，令各相邻时刻的所述图像末端器械的视野分别为第一视野和第二视野，所述第一视野和所述第二视野之间具有重叠区域，限定所述操作末端器械途经所述重叠区域向所述目标位置移动。The method according to claim 1, characterized in that, let the visual fields of the image end device at each adjacent moment be a first visual field and a second visual field, respectively, and there is a space between the first visual field and the second visual field. an overlapping area, defining that the manipulation end instrument moves toward the target position via the overlapping area.
根据权利要求1所述的方法，其特征在于，所述方法包括：The method of claim 1, wherein the method comprises:

在所述操作末端器械移动时，控制所述操作末端器械基本沿着其当前位置向所述目标位置的方向直线移动。When the operation end instrument is moved, the operation end instrument is controlled to move linearly substantially along the direction of its current position to the target position.
根据权利要求27所述的方法，其特征在于，所述方法包括：The method of claim 27, wherein the method comprises:

计算所述操作末端器械的移动方向与所述操作末端器械的当前位置和目标位置之间的连接线的偏离角；calculating the deviation angle of the moving direction of the operation end device and the connecting line between the current position and the target position of the operation end device;

在所述偏离角达到偏离阈值时，至少产生阻碍所述操作末端器械在偏离方向上移动的阻力。When the deviation angle reaches a deviation threshold value, at least resistance is generated to prevent the operation end instrument from moving in the deviation direction.
根据权利要求28所述的方法，其特征在于，所述阻力的大小与所述偏离角的大小呈正相关。The method of claim 28, wherein the magnitude of the resistance is positively correlated with the magnitude of the deviation angle.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被配置为由处理器加载并执行实现如权利要求1～29任一项所述的方法的步骤。A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is configured to be loaded and executed by a processor to implement the method according to any one of claims 1 to 29. steps of the method.
一种手术机器人的控制装置，其特征在于，包括：A control device for a surgical robot, comprising:

存储器，用于存储计算机程序；memory for storing computer programs;

及处理器，用于加载并执行所述计算机程序；and a processor for loading and executing the computer program;

其中，所述计算机程序被配置为由所述处理器加载并执行实现如权利要求1～29任一项所述的方法的步骤。Wherein, the computer program is configured to be loaded by the processor and execute the steps of implementing the method of any one of claims 1-29.
一种手术机器人，其特征在于，包括：A surgical robot, comprising:

操作臂，具有图像末端器械的相机臂和具有操作末端器械的手术臂；an operating arm, a camera arm with an image end instrument and a surgical arm with an operating end instrument;

以及控制器，所述控制器与所述操作臂耦接，并被配置成执行如权利要求1～29任一项所述的方法的步骤。and a controller coupled to the operating arm and configured to perform the steps of the method of any one of claims 1-29.