WO2022253293A1 - 支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人*** - Google Patents

支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人*** Download PDF

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Publication number
WO2022253293A1
WO2022253293A1 PCT/CN2022/096744 CN2022096744W WO2022253293A1 WO 2022253293 A1 WO2022253293 A1 WO 2022253293A1 CN 2022096744 W CN2022096744 W CN 2022096744W WO 2022253293 A1 WO2022253293 A1 WO 2022253293A1
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WIPO (PCT)
Prior art keywords
fixed point
patient
pose
support device
adjustment
Prior art date
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PCT/CN2022/096744
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English (en)
French (fr)
Inventor
宋子威
郑阿勇
江磊
何超
王家寅
张晓波
严加强
Original Assignee
上海微创医疗机器人（集团）股份有限公司
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Priority claimed from CN202110614229.4A external-priority patent/CN115429438A/zh
Priority claimed from CN202110614231.1A external-priority patent/CN115429439A/zh
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Priority to EP22815334.2A priority Critical patent/EP4349295A1/en
Publication of WO2022253293A1 publication Critical patent/WO2022253293A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings

Definitions

  • the present application relates to the technical field of robot-assisted surgery, and more specifically relates to a support device fixed point follow-up adjustment system, an intraoperative fixed point adjustment method, a readable storage medium, and a surgical robot system.
  • the design concept of the surgical robot is to accurately and dexterously perform complex surgical operations in a minimally invasive way, with high precision and high safety.
  • surgical robots have been developed to replace traditional surgery.
  • Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present internal organs to the operator more clearly.
  • the robotic arm can complete 360-degree rotation, movement, swing or clamping, and can avoid shaking. This provides patients with the advantages of small wounds, less bleeding, and faster recovery, which greatly shortens the postoperative hospital stay of patients, and can also significantly improve the postoperative survival rate and recovery rate, which is favored by the majority of doctors and patients.
  • surgical robots As a high-end medical device, surgical robots have been widely used in various clinical operations.
  • the surgical robot system has a fixed point mechanism.
  • the fixed point mechanism can ensure that the doctor moves the mechanical arm around a fixed point during the operation.
  • the fixed point will coincide with the surgical hole on the patient's abdominal cavity, so as to ensure that the mechanical arm will not cause harm to the patient during the movement.
  • the mechanical volume of the surgical robot is several to dozens of times that of ordinary endoscopic instruments, and there will be interference between the robotic arms, which further reduces the operable range of the instrument.
  • the preoperative preparation time of the current surgical robot is long, and the selection of the drilling position is highly dependent on experience.
  • it is very easy to cause inappropriate drilling positions resulting in unsmooth progress of the operation process or the need to interrupt the operation to adjust the position of the patient and the surgical robot.
  • it is necessary to re-select the hole position and the patient’s cause unnecessary harm. Therefore, there is an urgent need for a method that can adjust the body position during the operation without interrupting the operation to solve the problem that the current surgical robot cannot meet the operation needs, thereby improving the efficiency and safety of the surgical robot operation.
  • the purpose of this application is to provide a support device fixed point follow-up adjustment system, an intraoperative fixed point adjustment method, a readable storage medium, and a surgical robot system, so as to solve the problem that the existing surgical robot system cannot efficiently perform surgery.
  • a system for adjusting the fixed point of the supporting device which includes: a positioning unit and a control unit;
  • the control unit is connected in communication with the positioning unit, and the control unit is used to acquire the first pose information of the support device relative to the patient-end control device through the positioning unit;
  • the control unit monitors the posture change of the support device relative to the patient-end control device based on the first posture information; wherein, the mechanical arm of the patient-side control device is used to drive the connected instrument through the fixed point movement;
  • the control unit is configured to control the patient-side control device to move so that the The pose of the point relative to the support remains unchanged.
  • the first pose information includes a distance of the support device relative to the patient-side control device, and an angle of the support device relative to the patient-side control device.
  • the fixed point follow-up adjustment system of the support device further includes: a first pose acquisition unit communicatively connected with the control unit; the first pose acquisition unit is used to acquire the patient-end control device The second pose information of the mechanical arm; the control unit obtains the coordinate information of the fixed point in the coordinate system of the patient-end control device based on the second pose information.
  • the fixed point follow-up adjustment system of the support device further includes: a second pose acquisition unit communicatively connected with the control unit; the second pose acquisition unit is used to obtain the support of the support device The third pose information of the board; the control unit obtains the coordinate information of the support board in the coordinate system of the support device based on the third pose information.
  • the third pose information includes the lift height information of the support plate and the rotation angle of the support plate;
  • the second pose acquisition unit includes an encoder set on the lift column and an encoder set at the rotary joint A gyroscope, the encoder is used to feed back the lifting height information of the support plate, and the gyroscope is used to feed back the rotation angle of the support plate.
  • the positioning unit includes a matched first end and a second end, the first end is used to sense the position of the second end through a predetermined sensing medium; the first end and the second end are connected The second end is set on the patient-end control device and/or the support device according to the type of the sensing medium, and is used to obtain the first position of the support device relative to the patient-end control device. pose information.
  • the first end includes at least two optical shooting devices
  • the second end includes an optical target group
  • the optical target group includes at least three non-collinear optical targets
  • the first end is used for It is arranged on the control device at the patient end
  • the second end is used to be arranged on the supporting device.
  • the second end includes a plurality of optical target groups, and each optical target group is configured to be disposed on one side of the supporting device.
  • the first end includes at least two ultrasonic transmitters
  • the second end includes at least two ultrasonic receivers
  • the first end is configured to be arranged between the support device and the patient-side control device.
  • the second end is used to be arranged on the other of the supporting device and the patient-side control device.
  • each of the ultrasonic receivers is used to receive the ultrasonic waves emitted by at least two of the ultrasonic transmitters; the control unit is also used to The position information of the device excludes the redundant position information of the ultrasonic transmitter obtained based on the ultrasonic receiver.
  • the first end includes a magnetic field generator
  • the second end includes a magnetic positioning sensor with at least 3 degrees of freedom
  • the first end is configured to be arranged on the patient-side control device
  • the second end The two ends are used to be arranged on the supporting device.
  • the second end includes a magnetic positioning sensor with 6 degrees of freedom.
  • the first end includes a magnetic field generator
  • the second end includes at least three magnetic positioning sensors that are not on the same straight line
  • the first end is used to be arranged on the patient-end control device, so The second end is used to be arranged on the supporting device.
  • the first end includes a laser
  • the second end includes a camera
  • both the first end and the second end are used to be set on the patient-end control device, or the first end Both the end and the second end are configured to be disposed on the support device.
  • the positioning unit further includes a reflection plate, and the reflection plate is configured to be arranged on one of the patient-end control device and the support device that is not provided with the laser and the photographing device, for for reflecting the laser light emitted by the laser.
  • a surgical robot system which includes: a support device, a patient-side control device, and the above-mentioned fixed point follow-up adjustment system of the support device;
  • the fixed point follow-up adjustment system of the support device is used to control the movement of the control device at the patient end, so that the pose of the fixed point relative to the support device remains unchanged.
  • a method for adjusting a fixed point in an operation which includes:
  • the step of obtaining the force acting on the instrument includes:
  • the step of obtaining the force acting on the instrument includes:
  • the step of obtaining the force acting on the guide tube includes:
  • a force acting on the guide tube is derived based on the acquired force signal.
  • the step of adjusting the pose of the mechanical arm includes:
  • the pose of the mechanical arm is adjusted by numerical method, analytical method or according to robot kinematics.
  • the step of adjusting the pose of the mechanical arm by a numerical method includes:
  • the desired adjustment path of the robotic arm is obtained through screening.
  • the preset algorithm includes:
  • the iterative step of each joint is obtained, thereby obtaining the mechanical All possible adjustment paths of the arm.
  • the step of screening to obtain the desired adjustment path of the mechanical arm includes:
  • a convergence decision function is calculated based on one or more possible adjustment paths of the manipulator.
  • the convergence judgment function includes a convergence condition and a constraint condition
  • the convergence condition includes: the moving direction of the end of the mechanical arm is consistent with the direction of the force acting on the guide tube; and the force on the end of the mechanical arm does not increase;
  • the constraints include at least one of the following:
  • the pose change of the end of the robotic arm is less than a preset threshold, and the positions of each joint are within a preset position range.
  • the step of screening to obtain the desired adjustment path of the mechanical arm further includes:
  • a cost function Based on all possible adjustment paths of the manipulator, a cost function, a heuristic function and a weight function are calculated.
  • the intraoperative fixed point adjusting method further include:
  • a readable storage medium on which a program is stored, and when the program is executed, the method for adjusting the intraoperative fixed point as described above is realized .
  • a fixed point adjustment system which includes: a sensing unit, an action unit, and a control unit; the action unit includes a mechanical arm, and the The mechanical arm is used to connect the instrument passing through the guide tube; the sensing unit is used to acquire the force acting on the instrument, and/or, acquire the force acting on the guide tube; the control unit is respectively connected with The sensing unit is communicatively connected with the action unit, and is used to adjust the pose of the mechanical arm according to the method for adjusting the fixed point in the operation as described above, so that the fixed point is relative to the position of the support device. The pose remains the same.
  • the fixed point adjustment system further includes a detection unit communicatively connected with the control unit, the detection unit is used to detect the pose change information of the action unit, and the control unit is configured to The action unit and the detection unit form a closed-loop control.
  • a surgical robot system which includes: a support device, a guide tube, and the above-mentioned fixed point adjustment system, the fixed point
  • the instrument connected to the mechanical arm of the adjustment system is used to pass through the guide tube; the control unit of the fixed point adjustment system is used to adjust the pose of the mechanical arm so that the fixed point is relative to the fixed point
  • the pose of the support device remains unchanged.
  • the fixed point follow-up adjustment system of the support device includes: a positioning unit and a control unit; the control unit communicates with the positioning unit, and the control unit is used to pass the
  • the positioning unit acquires first pose information of the support device relative to the patient-end control device; the control unit monitors the change of the pose of the support device relative to the patient-end control device based on the first pose information; wherein,
  • the robotic arm of the patient-end control device is configured to drive the connected instrument through a fixed point; the control unit is configured to, when identifying the position of the support device relative to the patient-end control device When the posture change exceeds a predetermined value, the control device at the patient end is controlled to move accordingly, so that the posture of the fixed point relative to the support device remains unchanged.
  • the method for adjusting the fixed point in the operation includes: obtaining the force acting on the instrument when the instrument connected to the mechanical arm of the patient-end control device moves relative to the guide tube arranged around the instrument, and/or , obtaining the force acting on the guide tube; wherein the instrument to which the robotic arm is connected is adapted to move through a fixed point; based on the acquired force on the instrument and/or the force on the guide tube, The pose of the mechanical arm is adjusted so that the pose of the fixed point relative to the supporting device remains unchanged.
  • the control unit can detect the relative pose between the support device and the patient-side control device in real time through the positioning unit, and control the patient-side control device to move accordingly, so that the pose of the fixed point relative to the support device can be maintained constant.
  • the posture of the mechanical arm is adjusted to adjust the fixed point during the operation, so that the mechanical arm can follow the fixed point adjustment in real time, ensuring no The pose of the moving point relative to the supporting device remains unchanged.
  • the instrument can effectively realize various intraoperative body position adjustments, improve the surgical efficiency and safety of surgical robots, reduce preoperative preparation time, effectively reduce the risks and defects of existing surgical drilling operations, improve the accuracy of surgical operations, and reduce The patient's pain, improve the patient's recovery efficiency.
  • Fig. 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present application
  • Fig. 2 is a flow chart of the overall steps of the surgical planning involved in the present application
  • Fig. 3 is a schematic diagram of the establishment of the environmental coordinate system of the surgical scene involved in the present application.
  • Figure 4a and Figure 4b are schematic diagrams of the establishment of the surgical scene involved in the present application.
  • Fig. 5 is a schematic diagram of the establishment of the operation hole involved in the present application.
  • Fig. 6 is a schematic diagram of the patient-end surgical platform involved in the present application.
  • Fig. 7a is a schematic diagram of establishing a safe area through a position sensor involved in the present application.
  • Fig. 7b is a schematic diagram of establishing a safe area through an optical fiber shape sensor involved in the present application.
  • Fig. 8 is a schematic diagram of the robot involved in the present application before adaptation
  • Fig. 9 is a schematic diagram of the adapted robot involved in the present application.
  • Fig. 10 is a schematic diagram of a surgical robot system according to an embodiment of the present application.
  • Fig. 11 is a schematic diagram of a positioning unit including an optical photography positioning component according to an embodiment of the present application.
  • Figure 12a and Figure 12b are schematic diagrams of the principle of binocular vision positioning in the embodiment of the present application.
  • Fig. 13 is a schematic diagram of a dispersed optical target group according to an embodiment of the present application.
  • Fig. 14 is a schematic diagram of an integrated optical target group according to an embodiment of the present application.
  • Fig. 15a and Fig. 15b are schematic diagrams of the positioning unit of the embodiment of the present application including ultrasonic positioning components;
  • Fig. 16 is a schematic diagram of the positioning principle of the ultrasonic positioning assembly of the embodiment of the present application.
  • Fig. 17 is a schematic diagram of a positioning unit including a magnetic field positioning component according to an embodiment of the present application.
  • Figure 18a and Figure 18b are schematic diagrams of the positioning unit of the embodiment of the present application including another magnetic field positioning component;
  • Fig. 19a and Fig. 19b are schematic diagrams of a positioning unit including a laser positioning component according to an embodiment of the present application;
  • Fig. 20 is a schematic diagram of a laser positioning assembly according to an embodiment of the present application.
  • Fig. 21 is a schematic diagram of the laser light reflection measurement principle of the embodiment of the present application.
  • Fig. 22 is a schematic diagram of the first pose acquisition unit of the embodiment of the present application.
  • Fig. 23 is a schematic diagram of a second pose acquisition unit according to an embodiment of the present application.
  • Fig. 24 is a schematic diagram of the patient-end control device and the support device being arranged on the same horizontal plane according to the embodiment of the present application.
  • Fig. 25 is a flow chart of the method for adjusting the intraoperative fixed point according to the embodiment of the present application.
  • Fig. 26 is a schematic diagram of the device according to the embodiment of the present application being inserted into the poking card;
  • Figure 27a and Figure 27b are schematic diagrams of the intraoperative fixed point adjustment system according to the embodiment of the present application.
  • Fig. 28 is a schematic diagram of the fixed point of the mechanism of the embodiment of the present application.
  • Fig. 29 is a schematic diagram of obtaining the force acting on the instrument by using the joint moment in the embodiment of the present application.
  • Fig. 30 is a schematic diagram of obtaining the force acting on the instrument by using the torque sensor in the embodiment of the present application.
  • Fig. 31 is a schematic diagram of the poking card fixing assembly of the embodiment of the present application.
  • Fig. 32 is a force analysis diagram on the poking card of the embodiment of the present application.
  • Fig. 33 is a schematic diagram of obtaining the force acting on the poking card by using a three-dimensional force sensor according to the embodiment of the present application;
  • Figure 34a and Figure 34b are schematic diagrams of the operation space before and after adjustment of the instrument according to the embodiment of the present application.
  • Figure 35a and Figure 35b are schematic diagrams of the patient's position before and after adjustment in the embodiment of the present application.
  • Fig. 36 is a schematic diagram of the adjustment and confirmation steps of the embodiment of the present application.
  • Fig. 37 is a schematic diagram of display adjustment confirmation prompts in the embodiment of the present application.
  • Fig. 38a and Fig. 38b are schematic diagrams showing the prompts of the adjustment process according to the embodiment of the present application.
  • Fig. 39 is a schematic diagram of the instrument retracting the stamp card according to the embodiment of the present application.
  • Fig. 40 is a schematic diagram of the iterative solution method of the embodiment of the present application.
  • Fig. 41 is a schematic diagram of movement rules of each joint in the embodiment of the present application.
  • Fig. 42 is a schematic diagram of a prompt showing that the adjustment is completed according to the embodiment of the present application.
  • 100-Doctor control device 101-Main operator; 102-Imaging equipment; 103-Pedal operation control equipment;
  • 200-patient control device 201-base; 210-mechanical arm; 211-adjustment arm; 212-tool arm; 220-apparatus; 221-surgical instrument; 222-endoscope;
  • 300-image trolley 302-display equipment; 400-supporting device; 410-patient; 411-operating hole; 500-safe area; - Fiber optic shape sensors;
  • 700-positioning unit 711-optical shooting device; 712-ultrasonic transmitter; 7120-redundancy solution; 713-magnetic field generator; 714-laser; 721-optical target group; 7210-optical target; 722-ultrasonic receiver; 723-magnetic positioning sensor; 724-shooting device; 730-reflector; 800-control unit; 810-first pose acquisition unit; 820-second pose acquisition unit; 821-lifting column; 822-rotary joint.
  • proximal end is usually the end close to the operator
  • distal end is usually the end close to the patient, that is, the end close to the lesion.
  • One end and “the other end” as well as “proximal end” and “distal end” usually refer to the corresponding two parts, which not only include the end point
  • installation "connected” and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integration; it can be directly connected or indirectly connected through an intermediary, and it can be an internal connection between two components.
  • connection, coupling, cooperation or transmission usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element.
  • connection, coupling, fit or transmission but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out.
  • the purpose of this application is to provide a method for adjusting the fixed point in the operation, a system for adjusting the fixed point of the supporting device, a method for adjusting the surgical robot, a readable storage medium, and a surgical robot system, so as to solve the problem of the existing surgical robot system.
  • Figure 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present application
  • Figure 2 is a flow chart of the overall steps of the surgical planning involved in the present application
  • Figure 3 is the surgical procedure involved in the present application
  • Fig. 4a and Fig. 4b are schematic diagrams of the establishment of the surgical scene involved in the present application
  • Fig. 5 is a schematic diagram of the establishment of the surgical hole involved in the present application
  • Fig. 6 is a schematic diagram of the patient-side surgical platform involved in the present application Schematic diagram
  • FIG. 7a is a schematic diagram of establishing a safe area by a position sensor involved in the present application
  • FIG. 7b is a schematic diagram of establishing a safe area by an optical fiber shape sensor involved in the present application
  • FIG. 8 is a schematic diagram of the robot before adaptation involved in the present application
  • FIG. 9 is a schematic diagram of the robot involved in this application after adaptation.
  • Fig. 1 shows an application scenario of a surgical robot system
  • the surgical robot system includes a master-slave teleoperation surgical robot, that is, the surgical robot system includes a doctor-side control device 100, a patient-side control device 200, a master control device 10 and a support device 400 (for example, an operating bed) for supporting an object to undergo surgery.
  • the supporting device 400 may also be replaced by other surgical operation platforms, which is not limited in the present application.
  • the doctor-end control device 100 is the operation end of the teleoperation surgical robot, and includes a main operator 101 installed thereon.
  • the main operating hand 101 is used to receive the operator's hand movement information, which can be input as the movement control signal of the whole system.
  • the main controller is also arranged on the doctor-end control device 100 .
  • the doctor-side control device 100 further includes an imaging device 102, which can provide a stereoscopic image for the operator, and provide surgical operation information for the operator to perform surgical operations.
  • the surgical operation information includes the type and quantity of surgical instruments, the posture in the abdomen, the shape and arrangement of blood vessels in the patient's organs and tissues, and the surrounding organs and tissues.
  • the doctor-side control device 100 also includes a foot-operated surgical control device 103 . The operator can also complete the input of relevant operation instructions such as electric cutting and electrocoagulation by pedaling the surgical control device 103 .
  • the patient-end control device 200 is a specific execution platform of a teleoperated surgical robot, and includes a base 201 and surgical execution components installed thereon.
  • the operation execution assembly includes a robotic arm 210 and an instrument 220 , and the instrument 220 includes a surgical instrument 221 (such as a high-frequency electric knife) for performing surgery, and an endoscope 222 for assisting observation.
  • the mechanical arm includes an adjustment arm 211 and a working arm 212.
  • the tool arm 212 is a mechanical fixed point mechanism, which is used to drive the instrument 220 to move around the mechanical fixed point, so as to perform minimally invasive surgical treatment on the patient 410 on the supporting device 400 .
  • the adjustment arm 211 is used to adjust the position of the mechanical fixed point in the working space.
  • the mechanical arm 210 is a spatially configured mechanism with at least six degrees of freedom, which is used to drive the instrument 220 to move around an active fixed point under program control.
  • the instrument 220 is used to perform specific surgical operations, such as clamping, cutting, scissors, etc., or to assist surgery, such as photographing.
  • specific surgical operations such as clamping, cutting, scissors, etc.
  • photographing such as photographing.
  • the main controller is connected in communication with the doctor-side control device 100 and the patient-side control device 200 respectively, and is used to control the movement of the surgical execution component according to the movement of the main operating hand 101 .
  • the master controller includes a master-slave mapping module, the master-slave mapping module is used to obtain the terminal pose of the master operator 101, and a predetermined master-slave mapping relationship, so as to obtain the expected terminal pose.
  • the main controller 10 can control the mechanical arm 210 to drive the instrument 220 to move to a desired terminal pose.
  • the master-slave mapping module is also used to receive instrument functional operation instructions (such as electric cutting, electrocoagulation and other related operation instructions), and control the energy driver of the instrument 220 to release energy to implement electric cutting, electrocoagulation and other surgical operations.
  • the medical robot system also includes an image trolley 300 .
  • the image trolley 300 includes: an endoscope processor (not shown) communicatively connected with the endoscope 222 .
  • the endoscope 222 is used to obtain surgical operation information in the cavity (referring to the patient's body cavity).
  • the endoscope processor is used for performing image processing on the surgical operation information acquired by the endoscope 222 and transmitting it to the imaging device 102 so that the operator can observe the surgical operation information.
  • the image trolley 300 further includes a display device 302 .
  • the display device 302 is communicatively connected with the endoscope processor, and is used to display surgical operation information for an auxiliary operator (such as a nurse) in real time.
  • the operator sits in front of the doctor-side control device 100 located outside the sterile field, observes the surgical operation information transmitted back through the imaging device 102, and controls the operation by operating the main operating hand 101 Perform component and laparoscope movements to perform various surgical procedures.
  • Step SO1 Establish a surgical scene, transform and unify the support device coordinate system and the surgical robot coordinate system where the robotic arm 210 is located into an environment coordinate system; the pose of the support device 400 and the pose of the robotic arm 210 All are expressed based on the environment coordinate system.
  • the environment coordinate system (X0, Y0, Z0) can be established for the surgical scene by certain means, and the coordinates of the surgical robot (X1, Y1, Z1) and the coordinates of the supporting device (X2 , Y2, Z2) are unified into the environment coordinate system (X0, Y0, Z0) to realize the coordinate unification of the surgical scene.
  • the positional relationship between the coordinates of the support device and the coordinates of the surgical robot is established to provide a coordinate change relationship for the subsequent adjustment of the support device 400 to change the position of the patient's surgical hole and the position of the fixed point of the patient-side control device 200 .
  • Establishing the surgical scene is the first step in intraoperative fixed point adjustment.
  • the relative positional relationship between the patient-end control device 200 and the support device 400 can be established through the position sensor 610 (for example, a binocular vision device) and the target 620 .
  • the establishment steps of the surgical scene are shown in Figure 4a, mainly including:
  • Step SP1 establishment of environmental coordinates, establish the coordinates (X0, Y0, Z0) of the environment where the patient-end control device 200 and the support device 400 are located through the position sensor 610, and unify the coordinates of each system;
  • Step SP2 Establishment of coordinates of the patient-side control device: for the form of a surgical robot in which the robotic arm 210 is fixed to the patient-side control device 200, the patient-side control device 200 is located in the environment coordinate system (X0, Y0, Z0) through the position sensor 610 Carry out coordinate recognition, for determining the position of the patient-side control device 200 in the environmental coordinate system (X0, Y0, Z0), and subsequently for determining the position of the fixed point of the surgical robot system in the environmental coordinate system;
  • Step SP3 Establishment of the coordinates of the supporting device: use the position sensor 610 to identify the coordinates of the supporting device 400 in the environmental coordinate system, to determine the position of the supporting device 400 in the environmental coordinate system, and to further determine the adjustment time of the supporting device 400 Cause the position of the patient's operation hole to change coordinates and change path;
  • Step SP4 establishment of fixed point coordinates: as shown in FIG. 5 , after the patient 410 is placed on the supporting device 400 and the establishment of the operation hole 411 is completed, the operation hole 411 on the body surface of the patient 410 is carried out through the position sensor 610 Coordinate identification in the environment coordinate system to determine the position of the operation hole 411 in the environment coordinate system.
  • Step SP5 Unify coordinates. After completing the establishment of the environment coordinates in step SP1, the establishment of the coordinates of the patient-end control device in step SP2, the establishment of the coordinates of the support device in step SP3, and the establishment of the fixed point coordinates in step SP4, the unification of the coordinate system is completed. By unifying the coordinates of the patient-end control device 200 , the support device 400 and the operation hole 411 of the patient 410 , intraoperative adjustments can be performed in a unified coordinate system.
  • the supporting device 400 is connected with the patient-side control device 200, as shown in FIG. 6, to form a unified patient-side operating platform. It can be understood that at this time, it is not necessary to perform coordinate recognition on the patient-side control device 200 and the support device 400 respectively, and steps SP2 and SP3 are integrated into step SP6: establishing the coordinates of the patient-side operating platform.
  • the flow chart of the establishment of the operation scene is shown in Fig. 4b.
  • the present application is not limited to the above-mentioned coordinate identification and establishment methods, and those skilled in the art may select other coordinate identification and establishment methods according to actual conditions.
  • step SO2 drilling, the operator selects the location of the surgical hole according to the location of the lesion, and performs the drilling operation.
  • Step SO3 Identify the fixed point.
  • identify the surgical hole on the patient's body by certain technical means to obtain the coordinates of the surgical hole in the environment coordinate system. For example, the identification of the coordinates of the surgical hole can be accomplished through the position sensor 610 and the target 620 .
  • the coordinates of the operation hole will be updated as the support device 400 is adjusted.
  • the coordinates of the operation hole will be matched with the fixed point coordinates of the patient-side control device 200, and then the matching degree will be monitored to ensure the matching of the fixed points during the operation, thereby ensuring the safety of the operation.
  • this embodiment provides two different specific identification schemes:
  • Fixed point identification scheme one: use the position sensor 610 to identify the fixed point in the environmental coordinate system: after the operation hole 411 is established, use the target 620 (that is, the positioning device 610) to locate the operation hole 411 (that is, fixed point) for coordinate identification.
  • the target 620 is systematically connected with the supporting device 400 (that is, physically fixedly connected), and when the relative position of the patient 410 and the supporting device 400 is fixed and the state remains unchanged, the change of the fixed point coordinates is only controlled by the supporting device. 400 motion evoked.
  • the second fixed point identification scheme is to use the position sensor 610 to identify the fixed point in real time in the environment coordinate system: fix the target 620 for identifying the coordinates to the surgical hole 411 of the patient 410 in a certain way (such as bonding) position, and recognize the coordinate position of the target 620 in the environmental coordinate system in real time.
  • the change of the target 620 is caused by the real-time status of the support device 400 and the patient 410, so that the coordinates of the position of the operation hole 411 of the patient 410 can be judged more accurately.
  • step SO4 establishing a security area 500 is also included.
  • the establishment of the safety area 500 may include the following steps: Step SO41: Obtain body surface information of a predetermined object (such as the patient 410) placed on the support device 400; Step SO42: Establish a safety area based on the body surface information 500 , and associate the position information of the safety area 500 with the position information of the support device 400 , so that the pose adjustment of the robotic arm 210 avoids the safety area 500 .
  • the safe area 500 is the area where the patient and a certain range outside the patient's body surface are located, and the robotic arm 210 should avoid the safe area 500 to avoid harming the patient during adjustment.
  • the establishment of the safe area can be realized by the position sensor 610 and the target 620 .
  • the method for establishing the safety area includes: using the position sensor 610 to obtain point cloud data obtained by using the position sensor 610 to abut the target 620 on the body surface of a predetermined object; and obtaining the safety area based on the point cloud data fitting.
  • the establishment of the safety zone can also be realized by using the optical fiber shape sensor 630 .
  • the method for establishing the safe area includes: using the optical fiber shape sensor 630 to obtain shape data obtained from the body surface of the predetermined object; and obtaining the safe area based on the shape data fitting.
  • Step SO5 Adjust the fixed point adjustment, and adjust the fixed point during the operation, so that the operation space of the surgical robot meets the operation requirements.
  • step SO6 robot adaptation is also included, that is, after the fixed point adjustment in step SO5 is completed, according to the adjusted pose of the robotic arm 210, adjust the robotic arm 210 to Appropriate pose.
  • the robotic arm 210 adjusts its posture to a suitable ideal posture according to the position of the lesion, the fixed point posture, the safe area, and the relative positional relationship between the robotic arm 210 for easy operation.
  • the current operating posture of the robotic arm 210 is not necessarily in a state that is convenient for operation. At this time, as shown in FIG. 8 and FIG.
  • a step of robot adaptation can be performed to adjust the robot arm 210 to a position where the instrument 220 is suitable for operation. Further, after the mechanical arm 210 is adjusted to a suitable posture, it can also match the current posture of the robotic arm 210 with the operating posture of the control arm (ie, the main operator 101) of the doctor control terminal (ie, the doctor-side control device 100) , so that the pose of the control arm at the doctor's control end is updated to match the current pose of the robotic arm 210 .
  • the control arm ie, the main operator 101
  • the doctor control terminal ie, the doctor-side control device 100
  • the present application provides several embodiments to solve the problem that it is difficult to adjust the patient's position during the operation.
  • Fig. 10 is a schematic diagram of the surgical robot system of the embodiment of the present application
  • Fig. 11 is a schematic diagram of the positioning unit of the embodiment of the present application including the optical photography positioning component
  • FIG. 13 is a schematic diagram of the dispersed optical target group of the embodiment of the present application
  • Figure 14 is a schematic diagram of the integrated optical target group of the embodiment of the present application
  • Figure 15a and Figure 15b are the schematic diagrams of the present application
  • the positioning unit of the embodiment of the application includes a schematic diagram of an ultrasonic positioning component
  • Figure 16 is a schematic diagram of the positioning principle of the ultrasonic positioning component of the embodiment of the application
  • Figure 17 is a schematic diagram of the positioning unit of the embodiment of the application including a magnetic field positioning component
  • Figure 18a and Fig. 18b is a schematic diagram of the positioning unit of the embodiment of the present application including another magnetic field positioning component
  • FIG. 19b are schematic diagrams of the positioning unit of the embodiment of the present application including the laser positioning component;
  • Fig. 20 is the laser positioning of the embodiment of the present application A schematic diagram of components;
  • FIG. 21 is a schematic diagram of the laser light reflection measurement principle of the embodiment of the present application;
  • FIG. 22 is a schematic diagram of the first pose acquisition unit of the embodiment of the present application;
  • FIG. 23 is a second pose acquisition of the embodiment of the present application Schematic diagram of the unit;
  • FIG. 24 is a schematic diagram of the patient-end control device and the support device being arranged on the same horizontal plane according to the embodiment of the present application.
  • a fixed point follow-up adjustment system of a support device which includes: a positioning unit 700 and a control unit 800 .
  • the control unit 800 communicates with the positioning unit 700 .
  • the control unit 800 is used to obtain the first pose information of the support device 400 relative to the patient-side control device 200 through the positioning unit 700 .
  • the control unit 800 monitors the posture change of the support device 400 relative to the patient-end control device 200 based on the first posture information.
  • the mechanical arm 210 of the patient-end control device 200 is used to drive the connected instrument 220 to move through the fixed point.
  • the control unit 800 is configured to control the patient-side control device 200 to move accordingly when it is recognized that the posture change of the support device 400 relative to the patient-side control device 200 exceeds a predetermined value, so that all The pose of the fixed point relative to the supporting device 400 remains unchanged.
  • control unit 800 can detect the relative pose between the support device 400 and the patient-side control device 200 in real time through the positioning unit 700, and control the patient-side control device 200 to move accordingly, so that the fixed point can be relative to the support The pose of the device 400 remains unchanged.
  • the first pose information includes the distance of the support device 400 relative to the patient-side control device 200 and the angle of the support device 400 relative to the patient-side control device 200 . It can be understood that after obtaining the distance and angle of the support device 400 relative to the patient-side control device 200, the relative pose relationship between the two can be determined, that is, the first pose information is determined.
  • the positioning unit 700 includes a matched first end and a second end, the first end is used to sense the position of the second end through a predetermined sensing medium;
  • the second end is arranged on the patient-end control device 200 and/or the support device 400 according to the type of the sensing medium.
  • the sensing medium is light
  • the first end includes at least two optical photographing devices 711
  • the second end includes an optical target group 721
  • the optical target group 721 includes at least three non-collinear optical targets 7210
  • the first end is used to be set on the patient-end control device 200
  • the second end is used to be set on the support device 400 .
  • the optical photographing device 711 can be, for example, an NDI optical measuring instrument.
  • the NDI optical measuring instrument can be installed on the base 201 of the patient-end control device 200 .
  • the optical target group 721 can be installed on the specific position of the supporting device 400 , for example.
  • the control unit 800 can obtain the position and posture between the base 201 of the patient-side control device 200 and the support device 400 through the NDI optical measuring instrument, so as to obtain the coordinates of the support device centered on the coordinates of the patient-side control device 200 .
  • the optical photographing device 711 utilizes the principle of binocular vision for detection. Please refer to FIG. 12a and FIG. 12b, wherein FIG. 12a is a top view of the positioning unit 700, and FIG. 12b is a front view of the positioning unit 700, which shows the principle of binocular vision positioning. Since the two optical photographing devices 711 are fixedly installed on the patient-end control device 200, it can be considered that the side length a is known, and the optical photographing device 711 can measure the size of angle C and angle B and the lengths of b and c, Thus, the distance from the optical target 7210 to the optical imaging device 711 can be obtained.
  • the optical target 7210 Since the optical target 7210 is fixedly installed on the supporting device 400, its own coordinates are known, and a surface can be determined by three points that are not in a straight line, so at least three optical targets 7210 can obtain a surface in the optical Coordinates in the coordinate system of the imaging device 711 .
  • the second end includes a plurality of optical target groups 721 , and each optical target group 721 is configured to be disposed on one side of the supporting device 400 .
  • an optical target group 721 is installed around (each side) of the supporting plate of the supporting device 400 .
  • the optical target group 721 includes N (N ⁇ 3) dispersed optical targets 7210, and the N optical targets 7210 in each optical target group 721 are not on the same straight line.
  • the control unit 800 can obtain the distance and posture of the supporting device 400 relative to the optical target 7210 by measuring the distance from the patient-end control device 200 to each optical target 7210 .
  • an optical target group 721 is installed around (each side) of the supporting plate of the supporting device 400 .
  • the optical target group 721 is an integrated target group, which includes N (N ⁇ 3) optical targets 7210 that are not on a straight line, and its application principle is the same as that of the above-mentioned dispersed optical targets 7210 .
  • the sensing medium is ultrasonic waves
  • the positioning unit 700 includes ultrasonic positioning components.
  • Fig. 15a is a top view of the ultrasonic positioning assembly
  • Fig. 15b is a front view of the ultrasonic positioning assembly.
  • the first end includes at least two ultrasonic transmitters 712
  • the second end includes at least two ultrasonic receivers 722
  • the first end is used to be arranged on the support device 400 and the patient-side control device 200 One of them
  • the second end is used to be disposed on the other of the support device 400 and the patient-end control device 200 .
  • the first end is set on the supporting device 400
  • the second end is set on the patient-end control device 200
  • the first end includes two ultrasonic transmitters 712
  • the second end includes two ultrasonic receivers 722 as an example.
  • Two ultrasonic transmitters 712 are installed on the supporting device 400, and both of the ultrasonic transmitters 712 are communicatively connected with the control unit 800 (for example, the communication can be realized through a cable connection or a wireless connection).
  • the ultrasonic transmitter 712 emits ultrasonic waves under the control of the control unit 800 .
  • Two ultrasonic receivers 722 are mounted on the base 201 of the patient-side control device 200 , and the ultrasonic receivers 722 are also communicatively connected with the control unit 800 .
  • the ultrasonic receivers 722 can receive the ultrasonic waves emitted by the ultrasonic transmitter 712 .
  • the control unit 800 can know the transmission time of the ultrasonic waves between the ultrasonic transmitter 712 and the ultrasonic receiver 722 , so as to calculate the distance between the ultrasonic transmitter 712 and the ultrasonic receiver 722 .
  • the sound wave emitted by the ultrasonic transmitter 712 is t1
  • the sound wave received by the ultrasonic receiver 722 is t2.
  • a definite distance and shape can be obtained through the distance from one ultrasonic transmitter 12 to two ultrasonic receivers 722 .
  • each of the ultrasonic receivers 722 is respectively used to receive ultrasonic waves emitted by at least two ultrasonic transmitters 712 .
  • the control unit 800 is further configured to eliminate the redundant position information of the ultrasonic transmitter obtained based on the ultrasonic receiver 722 according to the position information of the mechanical arm 210 of the patient-end control device 200 relative to the supporting device 400 .
  • two solutions for the position of the ultrasonic transmitter 712 can actually be obtained.
  • the two solutions are distributed axisymmetrically with respect to the ultrasonic receiver 722 line.
  • One of the two solutions is in front of the patient-end control device 200 (in the same direction as the mechanical arm 210), and the other is in the back of the patient-end control device 200 (in the opposite direction to the mechanical arm 210), and one of the solutions is a redundant solution 7120.
  • the redundant solution 7120 can be eliminated, and the real position of the ultrasonic transmitter 712 can be obtained.
  • the relative pose relationship between the supporting device 400 and the patient-end control device 200 can be determined.
  • the sensing medium is a magnetic field
  • the first end includes a magnetic field generator 713
  • the second end includes a magnetic positioning sensor 723 with at least 3 degrees of freedom (a magnetic positioning sensor such as It can be a magnetic positioning coil, etc.).
  • the first end is used to be set on the patient-end control device 200
  • the second end is used to be set on the support device 400 .
  • the control unit 800 can obtain the coordinates of the support device 400 on the patient-side control device through the collected posture information and distance information of the magnetic positioning sensor 723. Coordinates under the system.
  • the magnetic positioning sensor 723 is a 3-DOF coil
  • the control unit 800 can collect the X, Y, and Z coordinates of the magnetic positioning sensor 723 , so as to obtain the position information of the magnetic positioning sensor 723 .
  • the control unit 800 cannot directly know the ⁇ , ⁇ , and ⁇ coordinates of the magnetic positioning sensor 723 and cannot obtain the attitude information of the magnetic positioning sensor 723 .
  • the support device 400 further includes a gyroscope, and the gyroscope can collect angle information ⁇ , ⁇ , and ⁇ coordinates of the support device 400 .
  • the control unit 800 can obtain the pose of the support device 400 relative to the patient-end control device 200 .
  • the second end includes a magnetic positioning sensor 723 with 6 degrees of freedom.
  • the control unit 800 can directly obtain the X, Y, Z, ⁇ , ⁇ , and ⁇ coordinates of the magnetic positioning sensor 723 through the 6-DOF magnetic positioning sensor 723 , thereby directly obtaining the pose of the supporting device 400 .
  • the ⁇ , ⁇ , and ⁇ coordinates obtained by the magnetic field generator 713 through the 6-DOF magnetic positioning sensor 723 can also be mutually verified with the ⁇ , ⁇ , and ⁇ coordinates collected by the gyroscope.
  • the sensing medium is also a magnetic field.
  • FIG. 18a and FIG. 18b wherein FIG. 18a is a front view of another magnetic field positioning component, and FIG. stereogram.
  • the first end includes a magnetic field generator 713
  • the second end includes at least three magnetic positioning sensors 723 that are not on the same straight line
  • the first end is used to be arranged on the patient-end control device 200
  • the The second end is used to be disposed on the supporting device 400 .
  • the second end includes four magnetic positioning sensors 723
  • the four magnetic positioning sensors 723 are respectively disposed at four corners of the base of the supporting device 400 .
  • the control unit 800 can obtain the distance between the magnetic field generator 713 and each magnetic positioning sensor 723 , so as to obtain the distance and angle of the support device 400 relative to the patient-end control device 200 .
  • the sensing medium is a laser
  • the positioning unit 700 includes a laser positioning component.
  • FIG. 19a is a top view of the laser positioning assembly
  • FIG. 19b is a front view of the laser positioning assembly.
  • the first end includes a laser 714
  • the second end includes a camera 724
  • both the first end and the second end are used to be set on the patient-end control device 200, or the first end and the second end are used to be arranged on the supporting device 400 .
  • Both the laser 714 and the camera 724 can rotate within a certain angle range.
  • a laser 714 and a camera 724 are installed on the base 201 of the patient-end control device 200 , and the supporting device 400 can reflect the laser light emitted by the laser 714 .
  • the laser 714 emits pulsed laser light and scans within the range of the base of the supporting device 400 through rotation, and the camera 724 receives the laser light.
  • the control unit 800 can calculate the distance between the two ends of the base of the support device 400 , and then determine the distance and posture of the support device 400 relative to the patient-end control device 200 .
  • the positioning unit 700 further includes a reflective plate 730, and the reflective plate 730 is used to be arranged in the patient-end control device 200 and the support device 400 without the laser 714 and the photographing device 724 One of them is used to reflect the laser light emitted by the laser 714 .
  • both the laser 714 and the photographing device 724 are disposed on the patient-side control device 200
  • the reflective plate 730 can be correspondingly disposed on the support device 400 .
  • the fixed point follow-up adjustment system of the support device further includes: a first pose acquisition unit 810 communicated with the control unit 800; Obtaining the second pose information of the robotic arm 210 of the patient-end control device 200; the control unit 800 obtains the coordinate information of the fixed point in the coordinate system of the patient-end control device based on the second pose information .
  • the first position acquisition unit 810 may include an encoder disposed on each joint of the lifting column, the suspension plate, the adjustment arm or the tool arm of the patient-end control device 200 . The encoder can feed back translation distance information or rotation angle information of each joint motor.
  • the control unit 800 can obtain the coordinate information of the fixed point in the coordinate system of the patient-side control device.
  • the coordinates of the patient-end control device 200 itself are The coordinates of the fixed point after passing through N joints
  • Each joint is equipped with an encoder to calculate the translation distance and rotation angle.
  • the coordinates of the terminal fixed point can be obtained:
  • the fixed point follow-up adjustment system of the support device further includes: a second pose acquisition unit 820 communicated with the control unit 800 (the second pose acquisition unit 820 includes The encoder of the lifting column 821 and the gyroscope arranged on the rotary joint 822); the second pose acquisition unit 820 is used to acquire the third pose information of the support plate of the support device 400; the control unit is based on the The third pose information is used to obtain the coordinate information of the support plate in the coordinate system of the support device.
  • the supporting device 400 has a lifting column 821 and a rotary joint 822, which are respectively used to control the lifting and rotation of the supporting plate.
  • the third pose information includes lifting height information of the support board and a rotation angle of the support board.
  • the support plate can rotate universally around the swivel joint 822, as shown in FIG. 23 .
  • the second pose acquisition unit 820 includes an encoder disposed on the lifting column and a gyroscope disposed on the rotary joint.
  • the encoder in the lifting column can feed back the lifting height information of the support plate, and the gyroscope at the rotary joint can feed back the rotation angle of the support plate.
  • the coordinates of the support plate in the coordinate system of the support device can be obtained according to the DH parameters.
  • both the patient-end control device 200 and the support device 400 are arranged on the same horizontal plane, and the Z-axis coordinates of the two are consistent. Further, as long as the distance information (X-axis coordinate) of the support device 400 relative to the patient-side control device 200 and the angle information (Y-axis coordinate) of the support device 400 relative to the patient-side control device 200 are obtained, the coordinate system of the support device can be obtained Coordinates in the coordinate system of the patient-side controls.
  • this embodiment also provides a surgical robot system, which includes: a support device 400, a patient-end control device 200, and the above-mentioned fixed point follow-up adjustment system of the support device;
  • the fixed point follow-up adjustment system of the supporting device is used to control the movement of the patient-side control device 200 so that the posture of the fixed point relative to the supporting device 400 remains unchanged.
  • Fig. 25 is a flow chart of the method for adjusting the fixed point in the operation of the embodiment of the present application
  • Fig. 26 is a schematic diagram of the instrument of the embodiment of the present application being inserted into the poking card
  • Fig. 27b is a schematic diagram of the adjustment system of the intraoperative fixed point of the embodiment of the present application
  • Fig. 25 is a flow chart of the method for adjusting the fixed point in the operation of the embodiment of the present application
  • Fig. 26 is a schematic diagram of the instrument of the embodiment of the present application being inserted into the poking card
  • Fig. 27a And Fig. 27b is a schematic diagram of the adjustment system of the intraoperative fixed point of the embodiment of the present application
  • Fig. 25 is a flow chart of the method for adjusting the fixed point in the operation of the embodiment of the present application
  • Fig. 26 is a schematic diagram of the instrument of the embodiment of the present application being inserted into the poking card
  • FIG. 28 is a schematic diagram of the fixed point of the mechanism of the embodiment of the present application
  • Figure 30 is a schematic diagram of the force acting on the instrument obtained by using a torque sensor in the embodiment of the present application
  • Figure 31 is a schematic diagram of the poking card fixing assembly in the embodiment of the present application
  • Figure 32 is a schematic diagram of the embodiment of the present application Force analysis diagram on the poking card
  • Fig. 33 is a schematic diagram of the force acting on the poking card obtained by using a three-dimensional force sensor in the embodiment of the present application
  • Fig. 34a and Fig. 34b are diagrams of the operating space before and after the adjustment of the instrument in the embodiment of the present application Schematic diagrams
  • FIG. 35b are schematic diagrams before and after adjustment of the patient's position in the embodiment of the present application;
  • Fig. 36 is a schematic diagram of the adjustment confirmation steps of the embodiment of the present application;
  • Fig. 37 is a schematic diagram of display adjustment confirmation prompts in the embodiment of the present application;
  • 38a and 38b are schematic diagrams of display adjustment process prompts of the embodiment of the present application;
  • FIG. 39 is a schematic diagram of the device retracting the stamp card of the embodiment of the present application;
  • FIG. 40 is a schematic diagram of the iterative solution method of the embodiment of the present application;
  • FIG. 42 is a schematic diagram of the display adjustment completion prompt in the embodiment of the application.
  • the method for adjusting the intraoperative fixed point includes:
  • Step SC1 obtaining external force: when the device 220 connected to the mechanical arm 210 of the patient-end control device 200 moves relative to the guide tube arranged around the device 220, obtain the force acting on the device 220, and/or, A force acting on the guide tube is acquired; wherein the instrument 220 to which the robotic arm 210 is connected is used to move through a fixed point.
  • the setting of the guide tube around the device 220 here means that the guide tube surrounds at least a part (in the axial length) of the device 220 , rather than limiting the guide tube around the entire (axial length) of the device 220 .
  • Step SC2 Perform adjustment: adjust the pose of the mechanical arm 210 based on the acquired force on the instrument 220 and/or the force on the guide tube, so that the fixed point is relative to the support device 400 The pose remains the same.
  • the pose of the robotic arm 210 is adjusted according to the obtained force on the instrument 220 and/or the force on the guide tube, so that the mechanical arm 210 can follow the fixed point in real time
  • the adjustment ensures that the pose of the fixed point relative to the supporting device 400 remains unchanged.
  • the intraoperative body position can be adjusted to solve problems such as the limited movement space of the robotic arm or the unsatisfactory operation hole position caused by the relationship between the current surgical robot position and the patient's position, and there is no need to withdraw the instrument during the adjustment.
  • the intraoperative fixed point adjustment method provided in this embodiment is mainly applied to a scheme in which one of the robotic arm 210 and the supporting device 400 performs real-time adjustment as the leading adjustment object, and the other performs follow-up adjustment following the adjustment object.
  • the guide tube here mainly refers to the limit protection device arranged at the surgical hole 411 on the patient's body surface, which can limit and guide the insertion of the instrument 220 into the patient's body.
  • the poking card 900 is used as an example of the guide tube for description. However, it should be understood that the poking card 900 is only an example of the guide tube and not a limitation on the guide tube, and those skilled in the art may select other components as the guide tube. Please refer to FIG. 26.
  • a poking card 900 is used to perforate the surgical hole 411 of the patient, and the mechanical arm 210 is connected to The instrument 220 is used to penetrate the patient's body via the poking card 900. It can be understood that at this time, the mechanical fixed point coincides with the intersection point of the axis of the poking card 900 and the body surface of the patient.
  • the mechanical arm 210 or the support device 400 is adjusted during the operation, the instrument 220 moves relative to the poking card 900, resulting in relative contact between the instrument 220 and the poking card 900, and the instrument 220 and the poking card 900 will be abutted by each other force.
  • the adjustment path of the mechanical arm 210 is calculated, so that the pose of the mechanical arm 210 can be adjusted in real time, so that the mechanical arm 210 follows the fixed point. Adjust and adjust to reduce the oppression of the poking card 900 on the operation hole and avoid injury to the patient.
  • Fig. 27a shows a schematic diagram of an intraoperative fixed point adjustment system for implementing the intraoperative fixed point adjustment method provided by this embodiment.
  • the intraoperative fixed point adjustment system includes: a sensing unit 950 , an action unit 920 and a control unit 930 .
  • the action unit 920 includes a mechanical arm 210, the mechanical arm 210 is used to connect the instrument 220 passing through the guide tube; the sensing unit 950 is used to acquire the force acting on the instrument 220, and/or, acquire The force acting on the guide tube; the control unit 930 is respectively in communication with the sensing unit 950 and the action unit 920, and is used to control the The posture of the mechanical arm 210 is adjusted so that the posture of the fixed point relative to the supporting device 400 remains unchanged.
  • the sensing unit 950 may include a torque sensor disposed on the base 201 of the patient-end control device 200 , or acquire a force sensor 943 disposed on the poking card 900 , etc.
  • the fixed point adjustment system further includes a detection unit 910 communicatively connected to the control unit 930, the detection unit 910 is used to detect the pose change information of the action unit 920, and the control unit 930 is configured In order to form a closed-loop control for the action unit 920 and the detection unit 910 .
  • the control unit 930 after receiving the pose change information of the action unit 920 detected by the detection unit 910, the control unit 930 performs processing according to a preset algorithm, and sends the processed action information (such as the command of the joint motor) The information is transmitted to the action unit 920, and the action unit 920 acts as an actuator to execute the action information from the control unit 930.
  • the action unit 920 includes the mechanical arm 210 and the instrument 220 of the patient-end control device 200.
  • the action unit 920 includes the base 201, the tool arm 212, and the instrument 220.
  • the control unit 930 includes an algorithm unit 931 (including specific algorithm content (for processing received information) and a CPU) and an information transceiving unit 932 (for receiving and transmitting information).
  • the detection unit 910 may include a position sensor 610 (for example, a binocular vision device) and a target 620 , which can detect the pose change information of the robotic arm 210 in real time.
  • FIG. 28 in an exemplary embodiment, take the adjustment arm 211 + the fixed point of the mechanism + the instrument 220 as an example for illustration, wherein the fixed point of the mechanism is the operation hole on the patient's body surface, and the adjustment arm 211 When no adjustment is made, the adjustment of any other joint will not affect the pose of the fixed point of the mechanism.
  • the manner of acquiring the force acting on the instrument 220 and/or the poking card 900 will be described below with reference to several examples.
  • the force acting on the instrument 220 is detected using a kinetic equation method.
  • the step of obtaining the force acting on the instrument 220 comprises:
  • Step SC11 Obtain the joint moment of each joint of the patient-end control device 200;
  • Step SC12 Obtain the force acting on the instrument 220 based on the joint moments of each joint.
  • ⁇ ext is the external moment
  • q is the joint position
  • q is the joint velocity
  • ⁇ m is the motor output torque
  • M(q) represent inertial force, Coriolis force and gravity respectively.
  • the magnitude and direction of the external force F acting on the instrument 220 can be synthesized and calculated according to the detected external moments of each joint.
  • the external torque of each joint can be obtained by the torque sensor arranged on the joint, for example.
  • the specific process of calculating the magnitude and direction of the external force F by synthesizing the external moments of each joint can be realized according to the existing technology, and no further description is given here.
  • the magnitude and direction of the external force F acting on the instrument 220 is detected by a torque sensor disposed on the base 201 of the patient-end control device 200 .
  • the step of obtaining the force acting on the instrument 220 comprises:
  • Step SC13 Obtain the force detected by the torque sensor disposed on the base 201 of the patient-end control device 200, so as to obtain the external force on the mechanical arm 210;
  • Step SC14 Obtain the force acting on the instrument 220 based on the external force on the mechanical arm 210 .
  • the torque sensor on the base 201 is a six-axis torque sensor. According to the torque information output by the six-axis torque sensor, the external force on the mechanical arm 210 can be calculated, and then converted to the end of the mechanical arm 210 The received external force means the magnitude and direction of the external force F acting on the instrument 220 .
  • the specific conversion process can be realized according to the existing technology, and no further description is given here.
  • the poking card fixing component 940 is used to obtain the external force acting on the poking card 900 .
  • the poking card fixing assembly includes a fixing part 941, a passive joint 942, a force sensor 943 and a connecting part 944, and the poking card 900 is connected to the supporting device 400 through the fixing part 941, the passive joint 942, the force sensor 943 and the connecting part 944 in sequence .
  • the fixing member 941 is used to connect with the poking card 900 so that the relative position of the poking card 900 is fixed.
  • the passive joint 942 is used to ensure that the action of the poking card 900 is decoupled from the support device 400 , ensuring that the action of the poking card 900 will not be affected by the components near the passive joint 942 .
  • the force sensor 943 can be a three-dimensional force sensor, which is used to measure the three-dimensional force on the poke card 900 .
  • the connecting piece 944 is used for fixing on the supporting device 400 . Please refer to Fig. 32, which shows the stress situation of the poking card 900. When the patient's body position is adjusted by adjusting the support device 400, if there are no above-mentioned fixing parts 941 and connecting parts 944, etc., the position of the poking card 900 will be changed. Variety.
  • the setting of the fixing part 941 and the connecting part 944 can ensure that the poking card 900 and the supporting device 400 are relatively fixed. Moving the support device 400 causes the force sensor 943 to generate a related force signal.
  • the force signal is three-dimensional, so it can be synthesized into a space vector force, which is the force experienced by the poking card 900 .
  • the step of obtaining the force acting on the poking card 900 includes:
  • Step SC15 Obtain the force signal detected by the force sensor 943 arranged on the poking card 900;
  • Step SC16 Obtain the force acting on the poking card 900 based on the force signal.
  • FIG. 34a and FIG. 34b show schematic diagrams of the operation space of the instrument 220 before and after adjustment
  • FIG. 34a shows the operation space 510 of the instrument 220 before adjustment.
  • the operating space 510 is a tapered space. If the operating space 510 of the front instrument 220 cannot cover all the lesion areas 520, the operating space of the instrument 220 can be moved by adjusting the mechanical arm 210 (mainly the tool arm 212), so that The operation space 510 covers all new lesion areas 520, as shown in FIG. 34b.
  • FIG. 35 a and FIG. 35 b illustrate that the operator adjusts the patient's body position by adjusting the supporting device 400 .
  • the support device 400 is tilted at an angle ⁇ , so that the lesion is exposed in the operating space of the current instrument 220 .
  • the position of the fixed point relative to the supporting device 400 changes.
  • the intraoperative fixed point adjustment method includes an adjustment confirmation step; the adjustment confirmation step includes: Step SC0: Prompt whether to adjust the patient's body position for the operator to confirm.
  • the control unit 930 After receiving the operator's confirmation to start the adjustment, the control unit 930 will first collect the end position information of each poking card 900 and the end position information of the corresponding instrument 220, and determine whether the difference between the two is less than a certain threshold. If the difference between the two is less than a certain threshold, it is necessary to confirm that the instrument 220 has been retracted to the poking card 900 before allowing the function of adjusting the patient's position to be executed, otherwise the patient's position adjustment will not be performed to avoid harm to the patient during the adjustment process .
  • There are many ways to prompt for example, it can be displayed on the imaging device 102 or the display device 302 , as shown in FIG. 37 ; or it can be prompted through buttons, sound and light, etc., which is not limited in this embodiment.
  • control unit 930 controls the mechanical arm 210 and the support device 400 to perform adjustments.
  • the operator can be reminded that the device is being retracted...the robot is being reset...the device is successfully retracted and is being adjusted...At this time, the operator cannot control the patient-side control device 200, and the patient-side control device 200 will keep selecting this function. s position.
  • prompting such as displaying on the imaging device 102 or the display device 302 , or prompting through buttons, sound and light, etc., which is not limited in this embodiment.
  • each mechanical arm 210 can be reset to a certain position through inverse kinematics, so as to ensure that there is no need to adjust the operating space. can cause harm to the patient.
  • the step of adjusting the pose of the mechanical arm 210 based on the acquired force on the poking card 900 includes: adjusting the position and posture of the mechanical arm 210 by numerical method, analytical method or according to robot kinematics based on the force on the poking card 900 The pose of the robotic arm 210. Before adjusting the pose of the robotic arm 210 , it is necessary to solve the adjustment path of the robotic arm 210 .
  • the adjustment path of the mechanical arm 210 can be solved by numerical method, analytical method or according to robot kinematics (such as Jacobi method and other methods).
  • the steps of adjusting the pose of the mechanical arm 210 by a numerical method include:
  • Step SC21 Obtain the pose information of the fixed point and the position information of each joint;
  • Step SC22 Based on the pose information of the fixed point and the position information of each joint of the robotic arm 210, calculate and obtain all possible adjustment paths of the robotic arm 210 according to a preset algorithm;
  • Step SC23 Screen (from all possible adjustment paths) to obtain the desired adjustment path of the mechanical arm 210 .
  • the preset algorithm includes:
  • the iterative step size of each joint is obtained S.
  • the formula for calculating the iteration step size S is as follows:
  • the moving distance is the distance of one unit step.
  • the movement rules are shown in Figure 41.
  • the forward rotation of the motor B1 on the base 201 is recorded as 1, and the reverse rotation is recorded as 0.
  • the same is true for the motor B2 on the base 201.
  • step of screening and obtaining the expected adjustment path of the mechanical arm 210 in step SC23 includes:
  • Step SC231 Calculate a convergence judging function f(n) based on one or more possible adjustment paths of the robotic arm 210 .
  • the convergence judging function f(n) includes convergence conditions and constraint conditions.
  • the convergence condition includes: the moving direction of the end of the mechanical arm 210 is consistent with the direction of the force F acting on the poking card 900; and the force on the end of the mechanical arm 210 does not increase;
  • the constraints include at least one of the following:
  • ⁇ is the distance between the two mechanical arms 210, is the unit vector of a straight line where the manipulator is located, is the unit vector of the straight line where the other robot arm is located, is the vector of the connecting line between the motor packages on the instruments of the two robotic arms 210 .
  • Pose c and Pose p are the current pose and the initial pose of the end of the robot arm respectively, and threshold is a threshold set for the pose of the end of the robot arm 210 .
  • P min and P max are the minimum limit and maximum limit of the joint, respectively
  • P r and P c are the range of motion of the joint and the current position of the joint, respectively.
  • the convergence judging function f(n) above it is judged whether the magnitude of the force F on the poking card 900 is less than a threshold. If not, recalculate the moving position of each joint to calculate whether the new path meets the requirements; if so, send the command to the motor of each joint to make the motor start to execute.
  • step SC23 to screen and obtain the expected adjustment path of the mechanical arm 210 also includes:
  • Step SC232 Calculate a cost function g(n), a heuristic function h(n) and a weight function w(n) based on all possible adjustment paths of the robotic arm 210 .
  • the cost function g(n), the heuristic function h(n) and the weight function w(n) can all be set according to the prior art in the field.
  • the calculation of cost function g(n), heuristic function h(n) and weight function w(n) is exemplarily described below:
  • Point c and Point p are the current pose and initial pose of the fixed point respectively;
  • Pose c and Pose p are the current pose and initial pose of the end of the robotic arm, respectively;
  • m is the number of motors, and its value is different according to whether there is an adjustment arm 211 in the structure of the mechanical arm.
  • ⁇ ⁇ , ⁇ ⁇ , and ⁇ ⁇ are adjustment factors, which are 0 when ⁇ j , ⁇ j , and ⁇ ⁇ are greater than the threshold, and 1 when smaller than the threshold.
  • ⁇ c is the current position of the restricted joint
  • ⁇ t is the target adjustment position of the constrained joint (eg, the midpoint of the full travel range).
  • ⁇ (n) is the heuristic function weight, ⁇ 1.
  • the weight is reduced to focus on the anti-collision between the robot arms of the path and the fixed point and the end pose of the instrument.
  • a prompt can be displayed: the adjustment is complete, the position of the instrument has been restored, please continue the operation, to remind the operator that the adjustment is completed.
  • the prompting method is not limited.
  • the robot adaptation step of step SO6 may also be performed, so as to adjust the robotic arm 210 to a proper pose.
  • the intraoperative fixed point adjustment method includes: When the connected instrument moves relative to the guide tube arranged around the instrument, obtain the force acting on the instrument, and/or obtain the force acting on the guide tube; wherein the instrument connected to the mechanical arm For moving through a fixed point; based on the acquired force on the instrument and/or the force on the guide tube, adjust the pose of the robotic arm so that the fixed point is relative to the position of the support device The pose remains the same.
  • the position and posture of the mechanical arm can be adjusted according to the obtained force on the instrument and/or the force on the guide tube, so that the mechanical arm can follow the fixed point adjustment in real time, ensuring The pose of the fixed point relative to the supporting device remains unchanged.
  • the intraoperative body position can be adjusted to solve problems such as the limited movement space of the robotic arm or the unsatisfactory operation hole position caused by the relationship between the current surgical robot position and the patient's position, and there is no need to withdraw the instrument during the adjustment.

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Abstract

一种支撑装置不动点随动调整***包括：定位单元（700）及控制单元（800）；控制单元（800）与定位单元通信连接，控制单元（800）用于通过定位单元获取支撑装置（400）相对于患者端控制装置（200）的第一位姿信息；控制单元（800）基于第一位姿信息监控支撑装置（400）相对于患者端控制装置（200）的位姿变化；其中患者端控制装置（200）的机械臂（210）用于驱动所连接的器械（220）穿过不动点运动；控制单元（800）被配置为，当识别出位姿变化超过预定值时，控制患者端控制装置（200）作相应运动，以使不动点相对于支撑装置（400）的位姿保持不变。如此配置，在不中断手术的情况下，可进行术中***调整。还提供了一种术中不动点的调整方法、可读存储介质及手术机器人***。

Description

支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人*** 技术领域
本申请涉及机器人辅助手术技术领域，更具体地涉及一种支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人***。
背景技术
手术机器人的出现符合精准外科的发展趋势。手术机器人成为帮助医生完成手术的有力工具。并且，目前已经在多科室、多领域开发了多种适用于不同适应症的手术机器人。
手术机器人的设计理念是采用微创伤的方式精准灵巧地实施复杂的外科手术，其具有高精度和高安全性。在传统的手术面临种种局限的情况下，发展出了手术机器人来替代传统手术。手术机器人突破了人眼的局限，采用立体成像技术，将内部器官更加清晰地呈现给操作者。在原来手伸不进的区域，机械臂能完成360度转动、挪动、摆动或夹持，并可避免抖动。这提供了患者的创口小、出血少、恢复快的优点，大大缩短了患者术后住院时间，也能明显提高了术后存活率和康复率，受到广大医患的青睐。手术机器人现在作为一种高端医疗器械，已广泛运用于各种临床手术中。
与传统腹腔镜手术不同，手术机器人***具有不动点机构。不动点机构可以保证医生在手术过程中使机械臂的运动围绕着一个不动点运动。该不动点会与患者腹腔上的手术孔重合，从而保证机械臂在运动过程中不会对患者造成伤害。然而，该不动点的存在也造成了手术机器人的器械操作空间受到限制。手术机器人的机械体积是普通腔镜器械的数倍至几十倍，且机械臂之间会存在干涉，进一步减小了器械的可操作范围。当手术机器人***的不动点与患者的手术孔匹配后，就不能再对手术机器人的位置以及患者***进行调整，否则会造成不动点位置移动，对患者造成伤害。以上特点对手术机器人手术的术前的打孔位置提出了非常高的要求。例如，无法合理布置打孔位置，将造成机械臂运动空间受限，影响手术操作，严重的将导致手术无法完成。在这种情况下，需要将手术机器人上的器械、内窥镜撤下，使手术机器人的不动点与患者的手术孔脱开，重新调整患者***及手术机器人的位置，从而能够重新将手术机器人的不动点与患者的手术孔进行匹配。然而，这样的重新匹配过程会造成手术中断、耗时长、无法监控调整过程以及无法监控调整后的患者***及手术机器人的位置是否满足操作空间的要求等问题。因此，该重新匹配过程会造成手术的时间长、安全性降低等不良影响。
当前手术机器人的术前准备时间较长，且打孔位置的选择对经验的依赖性高。此外，因不同患者存在差异，十分容易造成打孔位置不合适，导致手术过程进展不顺利或需中断手术以调整患者和手术机器人的位置，更严重的会导致需重新进行孔位选择而对患者造成不必要的伤害。因此，急需一种可以在术中且不中断手术的情况下对***进行调整来解决当前手术机器人无法满足操作需要的问题的方法，从而提高手术机器人手术的效率及安全性。
发明内容
本申请的目的在于提供一种支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人***，以解决现有手术机器人***在术中无法高效地对手术机器人的位置以及患者***进行调整的问题。
为解决上述技术问题，根据本申请的第一个方面，提供了一种支撑装置不动点随动调整***，其包括：定位单元及控制单元；
所述控制单元与所述定位单元通信连接，所述控制单元用于通过所述定位单元获取支撑装置相对于患者端控制装置的第一位姿信息；
所述控制单元基于所述第一位姿信息监控所述支撑装置相对于所述患者端控制装置的位姿变化；其中，所述患者端控制装置的机械臂用于驱动所连接的器械穿过不动点运动；
所述控制单元被配置为，当识别出所述支撑装置相对于所述患者端控制装置的所述位姿变化超过预定值时，控制所述患者端控制装置作运动，以使所述不动点相对于所述支撑装置的位姿保持不变。
可选的，所述第一位姿信息包括所述支撑装置相对于所述患者端控制装置的距离，以及所述支撑装置相对于所述患者端控制装置的角度。
可选的，所述支撑装置不动点随动调整***还包括：与所述控制单元通信连接的第一位姿获取单元；所述第一位姿获取单元用于获取所述患者端控制装置的机械臂的第二位姿信息；所述控制单元基于所述第二位姿信息得到所述不动点于患者端控制装置坐标系下的坐标信息。
可选的，所述支撑装置不动点随动调整***还包括：与所述控制单元通信连接的第二位姿获取单元；所述第二位姿获取单元用于获取所述支撑装置的支撑板的第三位姿信息；所述控制单元基于所述第三位姿信息得到所述支撑板于支撑装置坐标系下的坐标信息。
可选的，第三位姿信息包括所述支撑板的升降高度信息及所述支撑板的转动角度；所述第二位姿获取单元包括设置于升降立柱上的编码器以及设置于旋转关节处的陀螺仪，所述编码器用于反馈所述支撑板的升降高度信息，所述陀螺仪用于反馈所述支撑板的转动角度。
可选的，所述定位单元包括相适配的第一端以及第二端，所述第一端用于通过预定的感测介质感测所述第二端的位置；所述第一端与所述第二端根据所述感测介质的类型，设置于所述患者端控制装置和/或所述支撑装置上，用以获取所述支撑装置相对于所述患者端控制装置的所述第一位姿信息。
可选的，所述第一端包括至少两个光学拍摄装置，所述第二端包括光学靶标组，所述光学靶标组包括至少三个不共线的光学靶标，所述第一端用于设置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
可选的，所述第二端包括多个光学靶标组，每个所述光学靶标组用于设置于所述支撑装置的一个侧边上。
可选的，所述第一端包括至少两个超声波发射器，所述第二端包括至少两个超声波接收器，所述第一端用于设置于所述支撑装置与所述患者端控制装置中的一者，所述第二端用于设置于所述支撑装置与所述患者端控制装置中的另一者。
可选的，每个所述超声波接收器分别用于接收至少两个所述超声波发射器所发射的超声波；所述控制单元还用于根据所述患者端控制装置的机械臂相对于所述支撑装置的位置信息，排除基于所述超声波接收器所得到的超声波发射器冗余位置信息。
可选的，所述第一端包括磁场发生器，所述第二端包括具有至少3自由度的磁定位传感器，所述第一端用于设置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
可选的，所述第二端包括具有6自由度的磁定位传感器。
可选的，所述第一端包括磁场发生器，所述第二端包括至少3个不在同一直线上的磁定位传感器，所述第一端用于设置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
可选的，所述第一端包括激光器，所述第二端包括拍摄装置，所述第一端和所述第二端均用于设置于所述患者端控制装置上，或者所述第一端和所述第二端均用于设置于所述支撑装置上。
可选的，所述定位单元还包括反射板，所述反射板用于设置于所述患者端控制装置和所述支撑装置中未设置有所述激光器和所述拍摄装置的一者上，用于反射所述激光器所发射的激光。
为解决上述技术问题，根据本申请的第二个方面，还提供了一种手术机器人***，其 包括：支撑装置、患者端控制装置以及如上所述的支撑装置不动点随动调整***；所述支撑装置不动点随动调整***用于控制所述患者端控制装置运动，以使所述不动点相对于所述支撑装置的位姿保持不变。
为解决上述技术问题，根据本申请的第三个方面，提供了一种术中不动点的调整方法，其包括：
在患者端控制装置之机械臂所连接的器械相对于围绕所述器械设置的引导管运动时，获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；其中所述机械臂所连接的器械用于穿过不动点运动；
基于获取的作用于所述器械上的力和/或作用于所述引导管上的力，调整所述机械臂的位姿，以使所述不动点相对于支撑装置的位姿保持不变。
可选的，获取作用于所述器械上的力的步骤包括：
获取所述患者端控制装置的各关节的关节力矩；
基于各关节的所述关节力矩，得到作用于所述器械上的力。
可选的，获取作用于所述器械上的力的步骤包括：
获取设置于所述患者端控制装置之底座上的力矩传感器所检测得到的力，以得到所述机械臂所受的外力；
基于所述机械臂所受的外力，得到作用于所述器械上的力。
可选的，获取作用于所述引导管上的力的步骤包括：
获取设置于所述引导管上的力传感器所检测得到的力信号；
基于获取的所述力信号得到作用于所述引导管上的力。
可选的，基于获取的所述引导管上的力，调整所述机械臂的位姿的步骤包括：
基于作用于所述引导管上的力，通过数值法、解析法或依据机器人运动学调整所述机械臂的位姿。
可选的，通过数值法调整所述机械臂的位姿的步骤包括：
获取不动点的位姿信息以及所述机械臂的各关节的位置信息；
基于所述不动点的位姿信息以及各关节的位置信息，根据预设算法计算得到多个所述机械臂的调节路径；
筛选得到期望的所述机械臂的调节路径。
可选的，所述预设算法包括：
根据作用于所述引导管上的力的大小、所述关节的全行程运动范围、所述关节的电机的步频以及放大步长的阈值，得到各个关节的迭代步长，从而得到所述机械臂的所有可能的调节路径。
可选的，筛选得到期望的所述机械臂的调节路径的步骤包括：
基于所述机械臂的一个或多个可能的调节路径，计算收敛判断函数。
可选的，所述收敛判断函数包括收敛条件和约束条件；
所述收敛条件包括：机械臂末端的移动方向与作用于所述引导管上的力的方向一致；以及，机械臂末端所受的力不增大；
所述约束条件包括以下至少一者：
机械臂之间不发生碰撞、机械臂末端的位姿改变小于预设阈值、以及各关节的位置在预设位置范围内。
可选的，筛选得到期望的所述机械臂的调节路径的步骤还包括：
基于所述机械臂的所有可能的调节路径，计算代价函数、启发函数及权重函数。
可选的，在基于获取的作用于所述器械上的力和/或所述引导管上的力，调整所述机械臂的位姿的步骤之后，所述术中不动点的调整方法还包括：
根据所述机械臂调整后的位姿，调整所述机械臂所连接的器械至合适位姿；
匹配当前机械臂的位姿与医生控制端的控制臂的位姿。
为解决上述技术问题，根据本申请的第四个方面，还提供了一种可读存储介质，其上 存储有程序，所述程序被执行时实现如上所述的术中不动点的调整方法。
为解决上述技术问题，根据本申请的第五个方面，还提供了一种不动点的调整***，其包括：传感单元、动作单元以及控制单元；所述动作单元包括机械臂，所述机械臂用于连接穿过引导管的器械；所述传感单元用于获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；所述控制单元分别与所述传感单元和所述动作单元通信连接，并用于根据如上所述的术中不动点的调整方法，调整所述机械臂的位姿，以使所述不动点相对于支撑装置的位姿保持不变。
可选的，所述不动点的调整***还包括与所述控制单元通信连接的检测单元，所述检测单元用于检测所述动作单元的位姿变化信息，所述控制单元被配置为对所述动作单元与所述检测单元形成闭环控制。
为解决上述技术问题，根据本申请的第六个方面，还提供了一种手术机器人***，其包括：支撑装置、引导管以及如上所述的不动点的调整***，所述不动点的调整***的机械臂所连接的器械用于穿过所述引导管；所述不动点的调整***的控制单元用于调整所述机械臂的位姿，以使所述不动点相对于所述支撑装置的位姿保持不变。
综上所述，在本申请中，所述支撑装置不动点随动调整***包括：定位单元及控制单元；所述控制单元与所述定位单元通信连接，所述控制单元用于通过所述定位单元获取支撑装置相对于患者端控制装置的第一位姿信息；所述控制单元基于所述第一位姿信息监控所述支撑装置相对于所述患者端控制装置的位姿变化；其中，所述患者端控制装置的机械臂用于驱动所连接的器械穿过不动点运动；所述控制单元被配置为，当识别出支撑装置相对于所述患者端控制装置的所述所述位姿变化超过预定值时，控制所述患者端控制装置作相应运动，以使所述不动点相对于所述支撑装置的位姿保持不变。所述术中不动点的调整方法包括：在患者端控制装置之机械臂所连接的器械相对于围绕所述器械设置的引导管运动时，获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；其中所述机械臂所连接的器械用于穿过不动点运动；基于获取的所述器械上的力和/或所述引导管上的力，调整所述机械臂的位姿，以使所述不动点相对于支撑装置的位姿保持不变。
如此配置，控制单元通过定位单元可以实时地检测支撑装置与患者端控制装置之间的相对位姿，并控制患者端控制装置作相应运动，从而可使得不动点相对于支撑装置的位姿保持不变。此外，根据获取的所述器械上的力和/或引导管上的力，调整机械臂的位姿以在术中进行不动点调整，可实现机械臂实时跟随不动点调整，保证了不动点相对于支撑装置的位姿保持不变。这使得可在不中断手术的情况下进行术中的***调整以解决因当前手术机器人位置与患者位置关系导致的机械臂运动空间受限或手术孔位置不够理想等问题，且调整时无需撤出器械，能够有效实现各种术中***调整，提高手术机器人的手术效率和安全性，减少了术前准备时间，有效降低现有手术打孔操作的风险和缺陷，提高手术操作的精准性，降低患者的伤痛，提高患者的恢复效率。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本申请，而不对本申请的范围构成任何限定。其中：
图1是本申请涉及的手术机器人***的手术场景的示意图；
图2是本申请涉及的手术规划的总体步骤的流程图；
图3是本申请涉及的手术场景的环境坐标系建立的示意图；
图4a和图4b是本申请涉及的手术场景建立的示意图；
图5是本申请涉及的手术孔建立的示意图；
图6是本申请涉及的患者端手术平台的示意图；
图7a是本申请涉及的通过位置传感器建立安全区域的示意图；
图7b是本申请涉及的通过光纤形状传感器建立安全区域的示意图；
图8是本申请涉及的机器人适应前的示意图；
图9是本申请涉及的机器人适应后的示意图；
图10是本申请实施例的手术机器人***的示意图；
图11是本申请实施例的定位单元包括光学拍摄定位组件的示意图；
图12a和图12b是本申请实施例的双目视觉定位原理的示意图；
图13是本申请实施例的分散式光学靶标组的示意图；
图14是本申请实施例的集成式光学靶标组的示意图；
图15a和图15b是本申请实施例的定位单元包括超声波定位组件的示意图；
图16是本申请实施例的超声波定位组件的定位原理的示意图；
图17是本申请实施例的定位单元包括磁场定位组件的示意图；
图18a和图18b是本申请实施例的定位单元包括另一种磁场定位组件的示意图；
图19a和图19b是本申请实施例的定位单元包括激光定位组件的示意图；
图20是本申请实施例的激光定位组件的示意图；
图21是本申请实施例的激光光反射测量原理的示意图；
图22是本申请实施例的第一位姿获取单元的示意图；
图23是本申请实施例的第二位姿获取单元的示意图；
图24是本申请实施例的患者端控制装置和支撑装置设置于同一水平面上的示意图。
图25是本申请实施例的术中不动点的调整方法的流程图；
图26是本申请实施例的器械穿设于戳卡中的示意图；
图27a和图27b是本申请实施例的术中不动点的调整***的示意图；
图28是本申请实施例的机构不动点的示意图；
图29是本申请实施例的利用关节力矩得到作用于器械上的力的示意图；
图30是本申请实施例的利用力矩传感器得到作用于器械上的力的示意图；
图31是本申请实施例的戳卡固定组件的示意图；
图32是本申请实施例的戳卡上的受力分析图；
图33是本申请实施例的利用三维力传感器得到作用于戳卡上的力的示意图；
图34a和图34b是本申请实施例的器械调整前后的操作空间的示意图；
图35a和图35b是本申请实施例的患者***调整前后的示意图；
图36是本申请实施例的调整确认步骤的示意图；
图37是本申请实施例的显示调整确认提示的示意图；
图38a和图38b是本申请实施例的显示调整过程提示的示意图；
图39是本申请实施例的器械收回戳卡的示意图；
图40是本申请实施例的迭代求解法的示意图；
图41是本申请实施例的各关节的移动规则的示意图；
图42是本申请实施例的显示调整完毕提示的示意图。
附图中：
100-医生端控制装置；101-主操作手；102-成像设备；103-脚踏手术控制设备；
200-患者端控制装置；201-底座；210-机械臂；211-调整臂；212-工具臂；220-器械；221-手术器械；222-内窥镜；
300-图像台车；302-显示设备；400-支撑装置；410-患者；411-手术孔；500-安全区域；510-操作空间；520-病灶区；610-位置传感器；620-靶标；630-光纤形状传感器；
700-定位单元；711-光学拍摄装置；712-超声波发射器；7120-冗余解；713-磁场发生器；714-激光器；721-光学靶标组；7210-光学靶标；722-超声波接收器；723-磁定位传感器；724-拍摄装置；730-反射板；800-控制单元；810-第一位姿获取单元；820-第二位姿获取单元；821-升降立柱；822-旋转关节。
900-戳卡；910-检测单元；920-动作单元；930-控制单元；940-戳卡固定组件；941-固定件；942-被动关节；943-力传感器；944-连接件；950-传感单元。
具体实施方式
为使本申请的目的、优点和特征更加清楚，以下结合附图和具体实施例对本申请作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本申请实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本说明书中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近患者即靠近病灶的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本说明书中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本说明书中的具体含义。
本申请的目的在于提供一种术中不动点的调整方法、支撑装置不动点随动调整***、手术机器人的调整方法、可读存储介质及手术机器人***，以解决现有手术机器人***于术中无法对手术机器人的位置以及患者***进行调整的问题。
以下参考附图进行描述。
请参考图1至图9，其中，图1是本申请涉及的手术机器人***的手术场景的示意图；图2是本申请涉及的手术规划的总体步骤的流程图；图3是本申请涉及的手术场景的环境坐标系建立的示意图；图4a和图4b是本申请涉及的手术场景建立的示意图；图5是本申请涉及的手术孔建立的示意图；图6是本申请涉及的患者端手术平台的示意图；图7a是本申请涉及的通过位置传感器建立安全区域的示意图；图7b是本申请涉及的通过光纤形状传感器建立安全区域的示意图；图8是本申请涉及的机器人适应前的示意图；图9是本申请涉及的机器人适应后的示意图。
图1示出了一种手术机器人***的应用场景，所述手术机器人***包括主从式遥操作的手术机器人，即所述手术机器人***包括医生端控制装置100、患者端控制装置200、主控制器10以及用于支撑手术对象进行手术的支撑装置400(例如，手术床)。需要说明的，在一些实施例中，支撑装置400也可替换为其它的手术操作平台，本申请对此不限。
所述医生端控制装置100为遥操作手术机器人的操作端，并包含安装于其上的主操作手101。所述主操作手101用于接收操作者的手部运动信息，以作为整个***的运动控制信号输入。可选的，所述主控制器亦设置在所述医生端控制装置100上。优选的，医生端控制装置100还包括成像设备102，所述成像设备102可为操作者提供立体图像，为操作者进行手术操作提供手术操作信息。所述手术操作信息包括手术器械类型、数量、在腹中的位姿，病患器官组织以及周围器官组织血管的形态、布置等。可选的，医生端控制装置100还包括脚踏手术控制设备103。操作者还可通过脚踏手术控制设备103，完成电切、电凝等相关操作指令的输入。
患者端控制装置200为遥操作手术机器人的具体执行平台，并包括底座201及安装于其上的手术执行组件。所述手术执行组件包括机械臂210和器械220，器械220包括具体执行手术的手术器械221(如高频电刀等)，以及用于辅助观察的内窥镜222等。在一个实 施例中，所述机械臂包括调整臂211和工作臂212。所述工具臂212为机械不动点机构，用于驱动器械220围绕机械不动点运动，以实现对支撑装置400上的患者410进行微创伤手术治疗。所述调整臂211用于调整机械不动点在工作空间中的位置。在另外一个实施例中，所述机械臂210为一个具有至少六个自由度的空间构型的机构，用于在程序控制下驱动器械220围绕一主动不动点运动。所述器械220用于执行具体的手术操作，如夹、切、剪等操作，或者用于辅助手术，如拍摄等。需要说明的，由于实际中器械220有一定的体积，上述的“不动点”应理解为一个不动区域。当然本领域技术人员可根据现有技术对“不动点”进行理解。
主控制器分别与医生端控制装置100、患者端控制装置200通信连接，用于根据主操作手101的运动控制手术执行组件的运动。具体而言，所述主控制器包括主从映射模块，所述主从映射模块用于获取所述主操作手101的末端位姿，以及预定的主从映射关系，以获得手术执行组件的期望末端位姿。由此，所述主控制器10可以控制机械臂210驱动器械220运动到期望的末端位姿。进一步，所述主从映射模块还用于接收器械功能操作指令(如电切、电凝等相关操作指令)，控制器械220的能量驱动器，以释放能量实现电切、电凝等手术操作。
进一步，所述医疗机器人***还包括图像台车300。所述图像台车300包括：与所述内窥镜222通信连接的内窥镜处理器(未图示)。所述内窥镜222用于获取腔内(指患者的体腔内)的手术操作信息。所述内窥镜处理器用于对所述内窥镜222所获取的手术操作信息进行图像化处理，并传输至所述成像设备102，以便于操作者观察到手术操作信息。可选的，所述图像台车300还包括显示设备302。所述显示设备302与所述内窥镜处理器通信连接，用于为辅助操作者(例如护士)实时显示手术操作信息。
手术中，操作者(例如，主操作医生)坐在位于无菌区之外的医生端控制装置100前，通过成像设备102观察传回的手术操作信息，并通过操作主操作手101来控制手术执行组件和腹腔镜运动，以完成各种手术操作。
下面请参考图2，对本申请所涉及的手术机器人***的应用场景作示范性地说明。利用手术机器人***进行不动点调整或患者端控制装置的调整前，可包括如下步骤：
步骤SO1：建立手术场景，并将支撑装置坐标系以及所述机械臂210所在的手术机器人坐标系转换统一至一环境坐标系；所述支撑装置400的位姿和所述机械臂210的位姿均基于所述环境坐标系表达。请参考图3，在一个示范例中，如可通过一定的手段对手术场景建立环境坐标系(X0,Y0,Z0)，并将手术机器人坐标(X1,Y1,Z1)、支撑装置坐标(X2,Y2,Z2)统一到环境坐标系(X0,Y0,Z0)中，以实现手术场景的坐标统一。建立支撑装置坐标与手术机器人坐标之间的位置关系，为后续利用支撑装置400调整造成患者手术孔位置的变化及患者端控制装置200的不动点位置变化提供坐标变化关系。建立手术场景是术中不动点调整的第一步。在一个示范例中，如可通过位置传感器610(例如，双目视觉装置)及靶标620，进行患者端控制装置200与支撑装置400相对位置关系的建立。手术场景的建立步骤如图4a所示，主要包括：
步骤SP1：环境坐标的建立，通过位置传感器610对患者端控制装置200、支撑装置400所在的环境进行坐标(X0,Y0,Z0)的建立，将各***的坐标进行统一；
步骤SP2：患者端控制装置坐标的建立：针对机械臂210固定于患者端控制装置200的手术机器人形式，通过所述位置传感器610对患者端控制装置200在环境坐标系(X0,Y0,Z0)下进行坐标识别，用于确定患者端控制装置200在环境坐标系(X0,Y0,Z0)下的位置，后续进一步用于确定所述手术机器人***的不动点在环境坐标系下的位置；
步骤SP3：支撑装置坐标的建立：通过位置传感器610对支撑装置400在环境坐标系下进行坐标识别，用于确定支撑装置400在环境坐标系下的位置，后续进一步用于确定支撑装置400调整时造成患者手术孔的位置变化坐标和变化路径；
步骤SP4：不动点坐标的建立：如图5所示，在将患者410安置于支撑装置400，并完成手术孔411的建立后，通过位置传感器610，对患者410体表的手术孔411进行在环 境坐标系下的坐标识别，以确定手术孔411在环境坐标系下的位置。
步骤SP5：坐标统一，完成步骤SP1环境坐标的建立、步骤SP2患者端控制装置坐标的建立、步骤SP3支撑装置坐标的建立以及步骤SP4不动点坐标的建立后，即完成了坐标系的统一。通过将患者端控制装置200、支撑装置400以及患者410的手术孔411进行坐标统一，实现了术中调整时在统一的坐标系下进行。
根据手术机器人的不同形式，环境坐标建立的存在不同的实施例。如另一种实施例中，支撑装置400与患者端控制装置200连接在一起，如图6所示，形成统一的患者端手术平台。可以理解的，此时可不需要对患者端控制装置200及支撑装置400分别进行坐标识别，步骤SP2和SP3整合为步骤SP6：患者端手术平台坐标的建立。其手术场景的建立的步骤流程图如图4b所示。当然，本申请并不局限于上述的坐标识别和建立方式，本领域技术人员可根据实际选取其他的坐标识别和建立方式。
继续参考图2，步骤SO2：打孔，操作者根据病灶位置进行手术孔的位置选择，并执行打孔操作。
步骤SO3：不动点识别，在完成打孔后，通过一定的技术手段对患者身上的手术孔进行识别，以获得手术孔在环境坐标系下的坐标。例如，可通过位置传感器610及靶标620完成手术孔坐标的识别。该手术孔坐标会随着支撑装置400的调整而更新。手术孔坐标会与患者端控制装置200的不动点坐标进行匹配，进而对匹配度进行监控，以保证术中不动点的匹配性，从而保证手术的安全。
进一步，为了保障不动点识别的合理性，本实施例提供了两种不同的具体识别方案：
不动点识别方案一：通过所述位置传感器610对不动点在环境坐标系进行识别：完成手术孔411建立后，使用靶标620(即，定位装置610)对所述手术孔411(即，不动点)进行坐标识别。具体地，将该靶标620与支撑装置400***相连(即，物理地固定连接)，在患者410与支撑装置400相对位置固定状态不变的情况下，该不动点坐标的变化仅由支撑装置400的运动引起。
不动点识别方案二，通过所述位置传感器610对不动点在环境坐标系下进行实时识别：将用于识别坐标的靶标620采取一定方式(如粘接)固定于患者410的手术孔411位置，并实时识别该靶标620在环境坐标系下的坐标位置，该靶标620的变化由支撑装置400和患者410的实时状态引起，能够更准确的判断患者410的手术孔411位置的坐标。
可选的，在一些实施例中，还包括步骤SO4：建立安全区域500。在患者完成与支撑装置400的固定后，完成病人区域的坐标建立，以避免手术过程及术中调整过程中，机械臂210与患者发生碰撞，从而保证患者的安全。具体的，安全区域500的建立可包括如下步骤：步骤SO41：获取置于所述支撑装置400上的预定对象(如患者410)的体表信息；步骤SO42：基于所述体表信息建立安全区域500，并将所述安全区域500的位置信息与所述支撑装置400的位置信息相关联，以使所述机械臂210的位姿调整避开所述安全区域500。实际中，安全区域500为患者以及患者体表外一定范围所在的区域，机械臂210应避开安全区域500，以避免在调整中对患者产生伤害。
请参考图7a，在一个可替代的实施例中，安全区域的建立可以通过位置传感器610及靶标620来实现。所述安全区域的建立方法包括：利用位置传感器610获取靶标620于预定对象的体表抵靠而得到点云数据；基于所述点云数据拟合得到所述安全区域。请参考图7b，在另一个可替代的实施例中，安全区域的建立也可以利用光纤形状传感器630来实现。具体的，所述安全区域的建立方法包括：利用光纤形状传感器630获取于预定对象的体表铺盖而得到形状数据；基于所述形状数据拟合得到所述安全区域。
步骤SO5：调整不动点调整，在术中时进行不动点的调整，使手术机器人的操作空间满足操作需求。
可选的，在一些实施例中，还包括步骤SO6：机器人适应，即在完成步骤SO5的不动点调整后，根据所述机械臂210的调整后的位姿，调整所述机械臂210至合适位姿。具体的，机械臂210根据病灶位置、不动点位姿、安全区域及机械臂210之间的相对位置关 系，将自身的姿态调整至合适的理想位姿，以便于操作。实际中，在步骤SO5的不动点调整完成之后，当前机械臂210的操作姿态不一定处于便于操作的状态。此时，如图8和图9所示，可以进行机器人适应的步骤，将机械臂210调整至器械220合适操作的位置。进一步的，在机械臂210调整至合适位姿后，还可匹配当前机械臂210的位姿与医生控制端(即医生端控制装置100)的控制臂(即主操作手101)的操作位姿，使得医生控制端的控制臂的位姿更新为与当前的机械臂210的位姿相匹配。
基于背景技术的说明可以知道，在一般的手术机器人***中，当手术机器人***的不动点与患者的手术孔匹配后，就不能再对手术机器人的位置以及患者***进行调整，否则会造成不动点位置移动，对患者造成伤害。为此，本申请提供了若干实施例，以解决术中难以对患者***进行调整的问题。
请参考图10至图24，其中，图10是本申请实施例的手术机器人***的示意图；图11是本申请实施例的定位单元包括光学拍摄定位组件的示意图；图12a和图12b是本申请实施例的双目视觉定位原理的示意图；图13是本申请实施例的分散式光学靶标组的示意图；图14是本申请实施例的集成式光学靶标组的示意图；图15a和图15b是本申请实施例的定位单元包括超声波定位组件的示意图；图16是本申请实施例的超声波定位组件的定位原理的示意图；图17是本申请实施例的定位单元包括磁场定位组件的示意图；图18a和图18b是本申请实施例的定位单元包括另一种磁场定位组件的示意图；图19a和图19b是本申请实施例的定位单元包括激光定位组件的示意图；图20是本申请实施例的激光定位组件的示意图；图21是本申请实施例的激光光反射测量原理的示意图；图22是本申请实施例的第一位姿获取单元的示意图；图23是本申请实施例的第二位姿获取单元的示意图；图24是本申请实施例的患者端控制装置和支撑装置设置于同一水平面上的示意图。
请参考图10，在本实施例提供一种支撑装置不动点随动调整***，其包括：定位单元700及控制单元800。所述控制单元800与所述定位单元700通信连接。所述控制单元800用于通过所述定位单元700获取支撑装置400相对于患者端控制装置200的第一位姿信息。所述控制单元800基于所述第一位姿信息监控所述支撑装置400相对于所述患者端控制装置200的位姿变化。其中，所述患者端控制装置200的机械臂210用于驱动所连接的器械220穿过不动点运动。所述控制单元800被配置为，当识别出所述支撑装置400相对于所述患者端控制装置200的位姿变化超过预定值时，控制所述患者端控制装置200作相应运动，以使所述不动点相对于所述支撑装置400的位姿保持不变。
如此配置，控制单元800通过定位单元700可以实时地检测支撑装置400与患者端控制装置200之间的相对位姿，并控制患者端控制装置200作相应运动，从而可使得不动点相对于支撑装置400的位姿保持不变。这使得能够在不中断手术的情况下进行术中***调整以解决因当前手术机器人位置与患者位置关系导致的机械臂运动空间受限或手术孔位置不够理想等问题，且调整时无需撤出器械，能够有效实现各种术中***调整，提高手术机器人的手术效率和安全性，减少了术前准备时间，有效降低现有手术打孔操作的风险和缺陷，提高手术操作的精准性，降低患者的伤痛，提高患者的恢复效率。
可选的，所述第一位姿信息包括所述支撑装置400相对于所述患者端控制装置200的距离，以及所述支撑装置400相对于所述患者端控制装置200的角度。可以理解的，在获得了支撑装置400相对于患者端控制装置200的距离和角度后，即可确定两者之间的相对位姿关系，亦即确定了所述第一位姿信息。
优选的，所述定位单元700包括相适配的第一端以及第二端，所述第一端用于通过预定的感测介质感测所述第二端的位置；所述第一端与所述第二端根据所述感测介质的类型，设置于所述患者端控制装置200和/或所述支撑装置400上。
请参考图11，在一个可替代的实施例中，感测介质为光，所述第一端包括至少两个光学拍摄装置711，所述第二端包括光学靶标组721，所述光学靶标组721包括至少三个不共线的光学靶标7210，所述第一端用于设置于所述患者端控制装置200上，所述第二端用 于设置于所述支撑装置400上。光学拍摄装置711如可为NDI光学测量仪。该NDI光学测量仪如可安装在患者端控制装置200的底座201上。而光学靶标组721如可安装在支撑装置400的特点位置上。控制单元800通过NDI光学测量仪能够得到患者端控制装置200的底座201与支撑装置400之间的位置及姿态，从而能够得到以患者端控制装置200的坐标为中心的支撑装置坐标。
光学拍摄装置711利用双目视觉原理进行检测。请参考图12a和图12b，其中图12a为定位单元700的俯视图，图12b为定位单元700的正视图，其示出了双目视觉定位原理。由于两个光学拍摄装置711是固定安装在患者端控制装置200上的，可以认为边长a是已知的，光学拍摄装置711能够测出角C、角B的大小和b、c的长度，就能求出光学靶标7210到光学拍摄装置711的距离。由于光学靶标7210是固定安装在支撑装置400上的，其自己本身的坐标是已知的，由三个不在一条直线的点能确定一个面，因此最少三个光学靶标7210能够得到一个面在光学拍摄装置711的坐标系下的坐标。
进一步的，所述第二端包括多个光学靶标组721，每个所述光学靶标组721用于设置于所述支撑装置400的一个侧边上。请参考图13，支撑装置400的支撑板四周(每边)安装有一个光学靶标组721。所述光学靶标组721包括N(N≥3)个分散式的光学靶标7210，并且每个光学靶标组721中的N个光学靶标7210不在同一直线上，图中展示了光学靶标组721中包括4个光学靶标7210的情况。控制单元800通过测量患者端控制装置200到每个光学靶标7210的距离，就能得到支撑装置400相对于光学靶标7210的距离及姿态。
请参考图14，在第一个示例中，支撑装置400的支撑板四周(每边)安装有一个光学靶标组721。所述光学靶标组721为集成式的靶标组，其包括N(N≥3)个不在一条直线上的光学靶标7210，其应用原理与上述分散式的光学靶标7210相同。
在第二个示例中，感测介质为超声波，定位单元700包括超声波定位组件。请参考图15a和图15b，其中图15a是超声波定位组件的俯视图，图15b是超声波定位组件的正视图。所述第一端包括至少两个超声波发射器712，所述第二端包括至少两个超声波接收器722，所述第一端用于设置于所述支撑装置400与所述患者端控制装置200中的一者，所述第二端用于设置于所述支撑装置400与所述患者端控制装置200中的另一者。
下面以第一端设置于支撑装置400上，第二端设置于患者端控制装置200上，第一端包括两个超声波发射器712，第二端包括两个超声波接收器722为例，结合请参考图16进行说明：
在支撑装置400上安装有两个超声波发射器712，所述超声波发射器712均与控制单元800通信连接(如可通过线缆连接或无线连接实现通信)。超声波发射器712在控制单元800的控制下向外发射超声波。在患者端控制装置200的底座201上安装有两个超声波接收器722，所述超声波接收器722亦与控制单元800通信连接，超声波接收器722能够接收来自超声波发射器712所发射的超声波。由此，控制单元800能够获知超声波发射器712和超声波接收器722之间的超声波的传输时间，从而计算得到超声波发射器712与超声波接收器722之间的距离。例如：超声波发射器712所发出声波时间为t1，超声波接收器722接收声波时间为t2。则超声波发射器712与超声波接收器722之间的距离s＝340*(t2-t1)。进一步的，通过一个超声波发射器12到两个超声波接收器722的距离，能够得到一个确定的距离和形状。
进一步的，每个所述超声波接收器722分别用于接收至少两个所述超声波发射器712所发射的超声波。所述控制单元800还用于根据所述患者端控制装置200的机械臂210相对于所述支撑装置400的位置信息，排除基于所述超声波接收器722所得到的超声波发射器冗余位置信息。请继续参考图16，根据两个超声波接收器722所接收到的超声波，实际能够得到超声波发射器712位置的两个解。该两个解关于超声波接收器722连线成轴对称分布。这两个解一个在患者端控制装置200的前面(与机械臂210的方向相同)，一个在患者端控制装置200的后面(与机械臂210的方向相反)，其中有一个解是冗余解7120。根据机械臂210相对于支撑装置400的位置信息，即可排除冗余解7120，得到超声波发射 器712的真实位置。由此即可确定支撑装置400与患者端控制装置200的相对位姿关系。
请参考图17，在第三个示例中，感测介质为磁场，所述第一端包括磁场发生器713，所述第二端包括具有至少3自由度的磁定位传感器723(磁定位传感器如可为磁定位线圈等)。所述第一端用于设置于所述患者端控制装置200上，所述第二端用于设置于所述支撑装置400上。磁场发生器713如可安装在患者端控制装置200之底座201的表面上，控制单元800通过采集到的磁定位传感器723的姿态信息以及距离信息，即能够得到支撑装置400在患者端控制装置坐标系下的坐标。
在一些实施例中，磁定位传感器723为3自由度线圈，控制单元800能够采集到磁定位传感器723的X、Y、Z坐标，从而获知磁定位传感器723的位置信息。但是，控制单元800无法直接得知磁定位传感器723的α、β、γ坐标而无法得知磁定位传感器723的姿态信息。此时，可选的，支撑装置400还包括陀螺仪，陀螺仪能够采集到支撑装置400的角度信息α、β、γ坐标。由此，控制单元800即可得到支撑装置400相对于患者端控制装置200的位姿。
优选的，所述第二端包括6自由度的磁定位传感器723。控制单元800通过6自由度的磁定位传感器723可以直接获知磁定位传感器723的X、Y、Z、α、β、γ坐标，从而直接得到支撑装置400的位姿。当然在一些实施例中，磁场发生器713通过6自由度的磁定位传感器723获得的α、β、γ坐标也可以与陀螺仪采集到的α、β、γ坐标相互校验。
在第四个示例中，感测介质亦为磁场，请参考图18a和图18b，其中图18a为另一种磁场定位组件的正视图，图18b为磁定位传感器723安装于支撑装置400上的立体图。所述第一端包括磁场发生器713，所述第二端包括至少3个不在同一直线上的磁定位传感器723，所述第一端用于设置于所述患者端控制装置200上，所述第二端用于设置于所述支撑装置400上。在一个示范例中，第二端包括4个磁定位传感器723，4个磁定位传感器723分别设置在支撑装置400的底座的四个角处。由此，控制单元800可以得到磁场发生器713与每个磁定位传感器723之间的距离，从而可以得到支撑装置400相对于患者端控制装置200的距离和角度。
在第五个示例中，感测介质为激光，定位单元700包括激光定位组件。请参考图19a、图19b和图20，其中图19a为激光定位组件的俯视图，图19b为激光定位组件的正视图。所述第一端包括激光器714，所述第二端包括拍摄装置724，所述第一端和所述第二端均用于设置于所述患者端控制装置200上，或者所述第一端和所述第二端均用于设置于所述支撑装置400上。激光器714与拍摄装置724都可以在一定角度范围内转动。在一个示范例中，患者端控制装置200的底座201上安装有一个激光器714以及一个拍摄装置724，支撑装置400则能够反射激光器714所发射的激光。激光器714发射脉冲激光，并通过转动在整个支撑装置400之底座的范围内进行扫描，拍摄装置724则接收激光。由此，控制单元800可计算得到支撑装置400之底座两端的距离，进而确定支撑装置400相对于患者端控制装置200的距离和姿态。
下面结合图21，说明激光反射测量的原理。设三角形三边为a、b、c，其对角分别为A、B、C，若激光器714的角度B以及拍摄装置724的角度A都是已知的，则角度C也是确定的。由于激光器714与拍摄装置724分别固定在患者端控制装置200的底座201上，可以认为激光器714与拍摄装置724之间的距离c是已知的。根据正弦定理：a/sinA＝b/sinB＝c/sinC，即可求得a、b的长度，由此就能得到支撑装置400到患者端控制装置200的距离和角度。
优选的，所述定位单元700还包括反射板730，所述反射板730用于设置于所述患者端控制装置200和所述支撑装置400中未设置有所述激光器714和所述拍摄装置724的一者上，用于反射所述激光器714所发射的激光。例如在一个示范例中，激光器714和拍摄装置724均设置在患者端控制装置200上，则反射板730可相应地设置在支撑装置400上。
请参考图22，可选的，所述支撑装置不动点随动调整***还包括：与所述控制单元 800通信连接的第一位姿获取单元810；所述第一位姿获取单元810用于获取所述患者端控制装置200的机械臂210的第二位姿信息；所述控制单元800基于所述第二位姿信息得到所述不动点于患者端控制装置坐标系下的坐标信息。第一位姿获取单元810如可包括设置于患者端控制装置200之升降立柱、悬吊盘、调整臂或工具臂之各关节上的编码器。编码器能够反馈各关节电机的平移距离信息或转动角度信息。通过各编码器所反馈的信息，控制单元800可得到不动点于患者端控制装置坐标系下的坐标信息。具体的，患者端控制装置200本身的坐标是
Figure PCTCN2022096744-appb-000001
经过N个关节后到达不动点的坐标
Figure PCTCN2022096744-appb-000002
每个关节安装有编码器，用于计算平移距离和旋转角度。根据DH参数就能得到末端不动点的坐标：
Figure PCTCN2022096744-appb-000003
请参考图23，可选的，所述支撑装置不动点随动调整***还包括：与所述控制单元800通信连接的第二位姿获取单元820(第二位姿获取单元820包括设置于升降立柱821的编码器以及设置于旋转关节822的陀螺仪)；所述第二位姿获取单元820用于获取所述支撑装置400的支撑板的第三位姿信息；所述控制单元基于所述第三位姿信息得到所述支撑板于支撑装置坐标系下的坐标信息。一般的，支撑装置400具有升降立柱821和旋转关节822，其分别用于控制支撑板的升降和转动。第三位姿信息包括所述支撑板的升降高度信息及所述支撑板的转动角度。支撑板可以围绕旋转关节822万向转动，如图23所示。优选的，第二位姿获取单元820包括设置于升降立柱的编码器以及设置于旋转关节的陀螺仪。升降立柱中的编码器能够反馈支撑板的升降高度信息，旋转关节处的陀螺仪能够反馈支撑板的转动角度。进而，根据DH参数就能得到支撑板在支撑装置坐标系下的坐标。
请参考图24，可选的，患者端控制装置200和支撑装置400都设置于同一水平面上，两者的Z轴坐标一致。进一步的，只要得到支撑装置400相对于患者端控制装置200的距离信息(X轴坐标)和支撑装置400相对于患者端控制装置200的角度信息(Y轴坐标)，即可得到支撑装置坐标系在患者端控制装置坐标系下的坐标。
基于上述支撑装置不动点随动调整***，本实施例还提供一种手术机器人***，其包括：支撑装置400、患者端控制装置200以及如上所述的支撑装置不动点随动调整***；所述支撑装置不动点随动调整***用于控制所述患者端控制装置200运动，以使所述不动点相对于所述支撑装置400的位姿保持不变。
关于本申请提供的术中不动点的调整方法参考以下附图进行描述。
请参考图25至图42，其中，图25是本申请实施例的术中不动点的调整方法的流程图；图26是本申请实施例的器械穿设于戳卡中的示意图；图27a和图27b是本申请实施例的术中不动点的调整***的示意图；图28是本申请实施例的机构不动点的示意图；图29是本申请实施例的利用关节力矩得到作用于器械上的力的示意图；图30是本申请实施例的利用力矩传感器得到作用于器械上的力的示意图；图31是本申请实施例的戳卡固定组件的示意图；图32是本申请实施例的戳卡上的受力分析图；图33是本申请实施例的利用三维力传感器得到作用于戳卡上的力的示意图；图34a和图34b是本申请实施例的器械调整前后的操作空间的示意图；图35a和图35b是本申请实施例的患者***调整前后的示意图；图36是本申请实施例的调整确认步骤的示意图；图37是本申请实施例的显示调整确认提示的示意图；图38a和图38b是本申请实施例的显示调整过程提示的示意图；图39 是本申请实施例的器械收回戳卡的示意图；图40是本申请实施例的迭代求解法的示意图；图41是本申请实施例的各关节的移动规则的示意图；图42是本申请实施例的显示调整完毕提示的示意图。
如图25所示，在本实施例中，所述术中不动点的调整方法包括：
步骤SC1：获取外力：在患者端控制装置200之机械臂210所连接的器械220相对于围绕所述器械220设置的引导管运动时，获取作用于所述器械220上的力，和/或，获取作用于所述引导管上的力；其中，所述机械臂210所连接的器械220用于穿过不动点运动。需要说明的是，这里引导管围绕器械220设置是指，引导管围绕器械220的(轴向长度中的)至少一部分，而非限定引导管围绕器械220的全部(轴向长度)。
步骤SC2：执行调整：基于获取的所述器械220上的力和/或所述引导管上的力，调整所述机械臂210的位姿，以使所述不动点相对于支撑装置400的位姿保持不变。
如此配置，在术中进行不动点调整时，根据获取的所述器械220上的力和/或引导管上的力，调整机械臂210的位姿，可实现机械臂210实时跟随不动点调整，保证了不动点相对于支撑装置400的位姿保持不变。在不中断手术的情况下，可进行术中***调整以解决因当前手术机器人位置与患者位置关系导致的机械臂运动空间受限或手术孔位置不够理想等问题，且调整时无需撤出器械，能够有效实现各种术中***调整，提高手术机器人的手术效率和安全性，减少了术前准备时间，有效降低现有手术打孔操作的风险和缺陷，提高手术操作的精准性，降低患者的伤痛，提高患者的恢复效率。
本实施例提供的术中不动点的调整方法，主要应用于机械臂210与支撑装置400中的一者为主导调整对象进行实时调整，另一者为跟随调整对象进行跟随调整的方案。这里的引导管主要是指设置于患者体表手术孔411处的限位保护装置，其能够对器械220伸入患者体内进行限位和引导。下面以戳卡900作为引导管的示例进行说明。但应理解，戳卡900仅为引导管的一个示例而非对引导管的限定，本领域技术人员可选取其它的组件作为引导管。请参考图26，在本实施例的手术机器人***的一个应用场景中，在完成步骤SO2的打孔步骤后，利用一戳卡900穿设于患者的手术孔411中，而机械臂210所连接的器械220用于经由戳卡900穿入患者体内。可以理解的，此时机械不动点即与戳卡900之轴线与患者体表的交点重合。在术中对机械臂210或支撑装置400进行调整时，器械220相对于戳卡900产生运动，导致器械220与戳卡900产生相对接触，器械220与戳卡900会受到来自对方的抵靠作用力。
基于获取的作用于器械220与戳卡900中的至少一者上的力，计算得到机械臂210的调整路径，从而可以实时地调整机械臂210的位姿，使机械臂210跟随不动点的调整而调整，以减少戳卡900对手术孔产生压迫，避免对患者产生伤害。
图27a示出了用于实现本实施例所提供的术中不动点的调整方法的术中不动点调整***的示意图。该术中不动点的调整***包括：传感单元950、动作单元920以及控制单元930。所述动作单元920包括机械臂210，所述机械臂210用于连接穿过引导管的器械220；所述传感单元950用于获取作用于所述器械220上的力，和/或，获取作用于所述引导管上的力；所述控制单元930分别与所述传感单元950和所述动作单元920通信连接，并用于根据如上所述的术中不动点的调整方法，控制所述机械臂210的位姿调整，以使所述不动点相对于支撑装置400的位姿保持不变。传感单元950可包括设置于所述患者端控制装置200之底座201上的力矩传感器，或者获取设置于所述戳卡900上的力传感器943等。
优选的，所述不动点的调整***还包括与所述控制单元930通信连接的检测单元910，所述检测单元910用于检测动作单元920的位姿变化信息，所述控制单元930被配置为对所述动作单元920与所述检测单元910形成闭环控制。在一个示例中，控制单元930在接收到来自检测单元910所检测的动作单元920的位姿变化信息后，根据预设的算法进行处理，并将处理后的动作信息(如关节电机的指令)传递给动作单元920，动作单元920作为执行机构执行来自控制单元930的动作信息，随后，动作单元920实际的位姿变化又被 检测单元910所检测到，从而，形成闭环控制。请参考图27b，在一个示范例中，动作单元920包括患者端控制装置200的机械臂210以及器械220，在一个更具体的实施例中，动作单元920包括底座201、工具臂212以及器械220，控制单元930包括算法单元931(包含具体算法内容(用于处理接收信息)以及CPU)和信息收发单元932(用于接收和传递信息)。检测单元910如可包括位置传感器610(例如，双目视觉装置)及靶标620等，其可以实时地检测机械臂210的位姿变化信息。
请参考图28，在一个示范性的实施例中，以调整臂211+机构不动点+器械220为例进行说明，其中机构不动点即为患者体表上的手术孔，在调整臂211不进行调整时，其他任意关节的调整不会影响该机构不动点的位姿。下面结合若干示范例，对获取作用于器械220和/或戳卡900上的力的方式进行说明。
请参考图29，在第一个示例中，利用动力学方程法检测作用于器械220上的力。获取作用于所述器械220上的力的步骤包括：
步骤SC11：获取所述患者端控制装置200的各关节的关节力矩；
步骤SC12：基于各关节的所述关节力矩，得到作用于所述器械220上的力。
依据机器人动力学方程可以得到如下外力矩检测公式：
Figure PCTCN2022096744-appb-000004
其中，τ ext为外力矩，q为关节位置，
Figure PCTCN2022096744-appb-000005
为关节速度，
Figure PCTCN2022096744-appb-000006
为关节加速度，τ m为电机输出力矩，M(q)、
Figure PCTCN2022096744-appb-000007
g(q)分别表示惯性力、科氏力、重力。根据检测到的各关节外力矩可以合成计算出作用于器械220上的外力F的大小与方向。其中各关节的外力矩如可通过设置于关节上的力矩传感器获取。通过各关节外力矩合成计算出外力F的大小与方向的具体过程可根据现有技术实现，这里不作展开说明。
请参考图30，在第二个示例中，利用设置于患者端控制装置200之底座201上的力矩传感器来检测作用于器械220上的外力F的大小与方向。获取作用于所述器械220上的力的步骤包括：
步骤SC13：获取设置于所述患者端控制装置200之底座201上的力矩传感器所检测得到的力，以得到所述机械臂210所受的外力；
步骤SC14：基于所述机械臂210所受的外力，得到作用于所述器械220上的力。可选的，所述底座201上的力矩传感器为六轴力矩传感器，根据该六轴力矩传感器所输出的力矩信息，可以计算得到机械臂210所受的外力，进而可以换算至机械臂210之末端所受的外力，即得到作用于器械220上的外力F的大小与方向。具体的换算过程可根据现有技术实现，这里不作展开说明。
请参考图31和图33，在第三个示例中，利用戳卡固定组件940来获得作用于戳卡900上的外力。所述戳卡固定组件包括固定件941、被动关节942、力传感器943以及连接件944，所述戳卡900依次通过固定件941、被动关节942、力传感器943以及连接件944与支撑装置400连接。其中，固定件941用于与戳卡900相连接，使得戳卡900的相对位置固定。被动关节942用于确保戳卡900的动作与支撑装置400解耦，确保戳卡900的动作不会受到该被动关节942近端的各部件的影响。力传感器943如可为三维力传感器，其用于测量戳卡900所受到的三维力。连接件944用于固定于支撑装置400上。请参考图32，其示出了戳卡900的受力情况，当通过调整支撑装置400来调整患者的***时，若无上述的固定件941及连接件944等，会造成戳卡900位置产生变化。固定件941及连接件944等的设置，可以确保戳卡900与支撑装置400相对固定。移动支撑装置400会造成力传感器943产生相关的力信号。该力信号是三维的，所以可以合成为一个空间矢量力，该空间矢量力即戳卡900所受到的力。
由此，获取作用于所述戳卡900上的力的步骤包括：
步骤SC15：获取设置于所述戳卡900上的力传感器943所检测得到的力信号；
步骤SC16：基于所述力信号得到作用于所述戳卡900上的力。
请参考图34a和图34b，其示出了器械220的调整前后的操作空间示意，其中图34a示出了器械220在调整前的操作空间510。可见，该操作空间510为一锥形空间，若当前器械220的操作空间510不能覆盖所有病灶区520时，可以通过调整机械臂210(主要是工具臂212)来移动器械220的操作空间，使操作空间510覆盖新所有病灶区520，如图34b所示。
请参考图35a和图35b，其示出了操作者通过调整支撑装置400来调整患者的***。在一个示例中，将支撑装置400倾斜α角度，使得病灶暴露在当前器械220的操作空间内。此时不动点相对于支撑装置400的位置发生改变。为了使不动点相对于支撑装置400的位置保持不变，就需要调整机械臂210。
可选的，请参考图36，所述术中不动点的调整方法包括调整确认步骤；所述调整确认步骤包括：步骤SC0：提示是否调整患者***，以供操作者确认。在接收到操作者确认开始调整的信息后，控制单元930会先采集各个戳卡900的末端位置信息与对应的器械220的末端位置信息，并判断两者的差值是否小于一定的阈值。若两者的差值小于一定的阈值，则需要在确认器械220已被收回至戳卡900后才允许调整患者***的功能被执行，否则不执行患者***调整，以免调整过程中对患者造成伤害。提示的方式有多种，如可通过于成像设备102或显示设备302上显示的方式，如图37所示；或者通过按钮、声光等方式提示，本实施例对此不限。
进一步的，请参考图38a和图38b，在控制单元930确认器械220已被收回至戳卡900后，控制机械臂210与支撑装置400执行调整。此时，可提示操作者，器械收起中…机器人复位中…器械收起成功，调整中…此时操作者无法对患者端控制装置200进行控制，患者端控制装置200将保持选择该功能前的位置。提示的方式有多种，如可通过于成像设备102或显示设备302上显示的方式，或者通过按钮、声光等方式提示，本实施例对此不限。
更进一步的，请参考图39，在器械220被收回至戳卡900，完全脱离患者身体后，可通过逆运动学将各机械臂210复位至某一位置，保证在调整操作空间的过程中不会对患者造成伤害。
优选的，基于获取的所述戳卡900上的力，调整所述机械臂210的位姿的步骤包括：基于所述戳卡900上的力，通过数值法、解析法或依据机器人运动学调整所述机械臂210的位姿。调整机械臂210的位姿前，需要求解机械臂210的调整路径。可选用数值法、解析法或依据机器人运动学(如雅克比法等方法)来求解机械臂210的调整路径。
请参考图40，对数值法进行说明。通过数值法调整所述机械臂210的位姿的步骤包括：
步骤SC21：获取不动点的位姿信息以及各关节的位置信息；
步骤SC22：基于所述不动点的位姿信息以及所述机械臂210的各关节的位置信息，根据预设算法计算得到所述机械臂210的所有可能的调节路径；
步骤SC23：(从所有可能的调节路径中)筛选得到所述机械臂210的期望调节路径。
其中，所述预设算法包括：
根据作用于所述戳卡900上的力F的大小、所述关节的全行程运动范围P r、所述关节的电机的步频counts以及放大步长的阈值value，得到各个关节的迭代步长S。迭代步长S的计算公式如下：
Figure PCTCN2022096744-appb-000008
在计算完迭代步长S后，开始计算各关节的移动距离。移动距离即为一个单位步长的距离。移动规则如图41所示，底座201上的电机B1正转记为1，反转记为0，底座201上电机B2同理，悬吊盘上的电机Z1、Z2，调整臂211上的电机T1、T2、T3、T4…以此类推，可得到所述机械臂210的所有可能的调节路径。
进一步的，步骤SC23筛选得到所述机械臂210的期望调节路径的步骤包括：
步骤SC231：基于所述机械臂210的一个或多个可能的调节路径，计算收敛判断函数f(n)。
优选的，所述收敛判断函数f(n)包括收敛条件和约束条件。
所述收敛条件包括：机械臂210之末端的移动方向与作用于所述戳卡900上的力F的方向一致；以及，机械臂210之末端所受的力不增大；
所述约束条件包括以下中的至少一者：
1)机械臂210之间不发生碰撞，以任意的两条机械臂210为例进行说明，需满足：
Figure PCTCN2022096744-appb-000009
其中，ι为所述两条机械臂210之间的距离，
Figure PCTCN2022096744-appb-000010
为一条机械臂所在直线的单位向量，
Figure PCTCN2022096744-appb-000011
为另一条机械臂所在直线的单位向量，
Figure PCTCN2022096744-appb-000012
为两条机械臂210的器械上电机包之间的连线的向量。
2)机械臂210之末端的位姿改变小于预设阈值：
Pose c-Pose p＜threshold
其中，Pose c、Pose p分别为机械臂末端现在的位姿与初始位姿，threshold是为机械臂210之末端的位姿所设的阈值。
3)各关节的位置在预设位置范围内：
P min+20％*P r＜P c＜P max-20％*P r
其中，P min、P max分别为关节最小限位和最大限位，P r、P c分别为关节运动范围以及关节当前所处位置。
根据上述收敛判断函数f(n)判断戳卡900受力F的大小是否小于阈值。若不是，则重新计算各关节的移动位置从而计算新的路径是否符合要求；若是，则将指令下发至各关节的电机，使电机开始执行。
更进一步的，步骤SC23筛选得到所述机械臂210的期望调节路径的步骤还包括：
步骤SC232：基于所述机械臂210的所有可能的调节路径，计算代价函数g(n)、启发函数h(n)及权重函数w(n)。其中代价函数g(n)、启发函数h(n)以及权重函数w(n)均可根据本领域现有技术来设定。下面示范性地对代价函数g(n)、启发函数h(n)以及权重函数w(n)的计算进行说明：
代价函数g(n)的计算公式如下：
Figure PCTCN2022096744-appb-000013
其中，
Figure PCTCN2022096744-appb-000014
代表异面直线的距离；
Figure PCTCN2022096744-appb-000015
Point c、Point p分别为不动点现在的位姿与初始位姿；
Figure PCTCN2022096744-appb-000016
Pose c、Pose p分别为机械臂末端现在的 位姿与初始位姿；
Figure PCTCN2022096744-appb-000017
m为电机数量，其取值根据机械臂的结构内是否有调整臂211而不同。
η β，η γ，η δ为调整因子，当λ j，μ j，η δ大于阈值时为0，小于阈值时为1。
启发函数h(n)的计算公式如下：
h(n)＝abs(θ c-θ t)
θ c为受限关节的当前位置；
θ t为受限关节的目标调整位置(例如全行程范围的中点)。
f(n)＝g(n)+ω(n)*h(n)
ω(n)为启发函数权重，ω≥1。当接近目标时降低权重，以侧重于路径的机械臂之间的防碰撞及不动点与器械末端位姿不变。
可选的，请参考图42，在调整结束后，可提示：调整完毕，器械位置已恢复，请继续手术，以提示操作者调整完成。同样的，提示的方式不限。
进一步的，在机械臂210的位姿调整完成后，也可以执行前述步骤SO6的机器人适应步骤，以使机械臂210调整至合适位姿。
综上所述，在本申请提供的术中不动点的调整方法、可读存储介质及手术机器人***中，所述术中不动点的调整方法包括：在患者端控制装置之机械臂所连接的器械相对于围绕所述器械设置的引导管运动时，获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；其中所述机械臂所连接的器械用于穿过不动点运动；基于获取的所述器械上的力和/或所述引导管上的力，调整所述机械臂的位姿，以使所述不动点相对于支撑装置的位姿保持不变。
如此配置，在术中进行不动点调整时，根据获取的所述器械上的力和/或引导管上的力，调整机械臂的位姿，可实现机械臂实时跟随不动点调整，保证了不动点相对于支撑装置的位姿保持不变。在不中断手术的情况下，可进行术中***调整以解决因当前手术机器人位置与患者位置关系导致的机械臂运动空间受限或手术孔位置不够理想等问题，且调整时无需撤出器械，能够有效实现各种术中***调整，提高手术机器人手术的效率和安全性，减少了术前准备时间，有效降低现有手术打孔操作的风险和缺陷，提高手术操作的精准性，降低患者的伤痛，提高患者的恢复效率。
需要说明的是，上述若干实施例并不限于单独使用，其可相互组合，本申请对此不限。上述描述仅是对本申请较佳实施例的描述，并非对本申请范围的任何限定，本申请领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (31)

  1. 一种支撑装置不动点随动调整***，其特征在于，包括：定位单元及控制单元；
    所述控制单元与所述定位单元通信连接，所述控制单元用于通过所述定位单元获取支撑装置相对于患者端控制装置的第一位姿信息；
    所述控制单元基于所述第一位姿信息监控所述支撑装置相对于所述患者端控制装置的位姿变化；其中，所述患者端控制装置的机械臂用于驱动所连接的器械穿过不动点运动；
    所述控制单元被配置为，当识别出所述支撑装置相对于所述患者端控制装置的所述位姿变化超过预定值时，控制所述患者端控制装置运动，以使所述不动点相对于所述支撑装置的位姿保持不变。
  2. 根据权利要求1所述的支撑装置不动点随动调整***，其特征在于，所述第一位姿信息包括所述支撑装置相对于所述患者端控制装置的距离，以及所述支撑装置相对于所述患者端控制装置的角度。
  3. 根据权利要求1所述的支撑装置不动点随动调整***，其特征在于，所述支撑装置不动点随动调整***还包括：与所述控制单元通信连接的第一位姿获取单元；所述第一位姿获取单元用于获取所述患者端控制装置的机械臂的第二位姿信息；所述控制单元基于所述第二位姿信息得到所述不动点于患者端控制装置坐标系下的坐标信息。
  4. 根据权利要求1所述的支撑装置不动点随动调整***，其特征在于，所述支撑装置不动点随动调整***还包括：与所述控制单元通信连接的第二位姿获取单元；所述第二位姿获取单元用于获取所述支撑装置的支撑板的第三位姿信息；所述控制单元基于所述第三位姿信息得到所述支撑板于支撑装置坐标系下的坐标信息。
  5. 根据权利要求4所述的支撑装置不动点随动调整***，其特征在于，所述第三位姿信息包括所述支撑板的升降高度信息及所述支撑板的转动角度；所述第二位姿获取单元包括设置于升降立柱上的编码器以及设置于旋转关节处的陀螺仪，所述编码器用于反馈所述支撑板的升降高度信息，所述陀螺仪用于反馈所述支撑板的转动角度。
  6. 根据权利要求1所述的支撑装置不动点随动调整***，其特征在于，所述定位单元包括相适配的第一端以及第二端，所述第一端用于通过预定的感测介质感测所述第二端的位置；所述第一端与所述第二端根据所述感测介质的类型，设置于所述患者端控制装置和/或所述支撑装置上，用以获取所述支撑装置相对于所述患者端控制装置的所述第一位姿信息。
  7. 根据权利要求6所述的支撑装置不动点随动调整***，其特征在于，所述第一端包括至少两个光学拍摄装置，所述第二端包括光学靶标组，所述光学靶标组包括至少三个不共线的光学靶标，所述第一端用于设置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
  8. 根据权利要求7所述的支撑装置不动点随动调整***，其特征在于，所述第二端包括多个光学靶标组，每个所述光学靶标组用于设置于所述支撑装置的一个侧边上。
  9. 根据权利要求6所述的支撑装置不动点随动调整***，其特征在于，所述第一端包括至少两个超声波发射器，所述第二端包括至少两个超声波接收器，所述第一端用于设置于所述支撑装置与所述患者端控制装置中的一者，所述第二端用于设置于所述支撑装置与所述患者端控制装置中的另一者。
  10. 根据权利要求9所述的支撑装置不动点随动调整***，其特征在于，每个所述超声波接收器分别用于接收至少两个所述超声波发射器所发射的超声波；所述控制单元还用于根据所述患者端控制装置的机械臂相对于所述支撑装置的位置信息，排除基于所述超声波接收器所得到的超声波发射器冗余位置信息。
  11. 根据权利要求6所述的支撑装置不动点随动调整***，其特征在于，所述第一端包括磁场发生器，所述第二端包括具有至少3自由度的磁定位传感器，所述第一端用于设 置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
  12. 根据权利要求11所述的支撑装置不动点随动调整***，其特征在于，所述第二端包括具有6自由度的磁定位传感器。
  13. 根据权利要求6所述的支撑装置不动点随动调整***，其特征在于，所述第一端包括磁场发生器，所述第二端包括至少3个不在同一直线上的磁定位传感器，所述第一端用于设置于所述患者端控制装置上，所述第二端用于设置于所述支撑装置上。
  14. 根据权利要求6所述的支撑装置不动点随动调整***，其特征在于，所述第一端包括激光器，所述第二端包括拍摄装置，所述第一端和所述第二端均用于设置于所述患者端控制装置上，或者所述第一端和所述第二端均用于设置于所述支撑装置上。
  15. 根据权利要求14所述的支撑装置不动点随动调整***，其特征在于，所述定位单元还包括反射板，所述反射板用于设置于所述患者端控制装置和所述支撑装置中未设置有所述激光器和所述拍摄装置的一者上，用于反射所述激光器所发射的激光。
  16. 一种手术机器人***，其特征在于，包括：支撑装置、患者端控制装置以及根据权利要求1～15中的任一项所述的支撑装置不动点随动调整***；所述支撑装置不动点随动调整***用于控制所述患者端控制装置运动，以使所述不动点相对于所述支撑装置的位姿保持不变。
  17. 一种术中不动点的调整方法，其特征在于，包括：
    在患者端控制装置之机械臂所连接的器械相对于围绕所述器械设置的引导管运动时，获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；其中所述机械臂所连接的器械用于穿过不动点运动；
    基于获取的作用于所述器械上的力和/或作用于所述引导管上的力，调整所述机械臂的位姿，以使所述不动点相对于支撑装置的位姿保持不变。
  18. 根据权利要求17所述的术中不动点的调整方法，其特征在于，获取作用于所述器械上的力的步骤包括：
    获取所述患者端控制装置的各关节的关节力矩；
    基于各关节的所述关节力矩，得到作用于所述器械上的力。
  19. 根据权利要求17所述的术中不动点的调整方法，其特征在于，获取作用于所述器械上的力的步骤包括：
    获取设置于所述患者端控制装置之底座上的力矩传感器所检测得到的力，以得到所述机械臂所受的外力；
    基于所述机械臂所受的外力，得到作用于所述器械上的力。
  20. 根据权利要求17所述的术中不动点的调整方法，其特征在于，获取作用于所述引导管上的力的步骤包括：
    获取设置于所述引导管上的力传感器所检测得到的力信号；
    基于获取的所述力信号得到作用于所述引导管上的力。
  21. 根据权利要求17所述的术中不动点的调整方法，其特征在于，基于获取的所述引导管上的力，调整所述机械臂的位姿的步骤包括：
    基于作用于所述引导管上的力，通过数值法、解析法或依据机器人运动学调整所述机械臂的位姿。
  22. 根据权利要求21所述的术中不动点的调整方法，其特征在于，通过数值法调整所述机械臂的位姿的步骤包括：
    获取不动点的位姿信息以及所述机械臂的各关节的位置信息；
    基于所述不动点的位姿信息以及各关节的位置信息，根据预设算法计算得到多个所述机械臂的调节路径；
    筛选得到期望的所述机械臂的调节路径。
  23. 根据权利要求22所述的术中不动点的调整方法，其特征在于，所述预设算法包括：
    根据作用于所述引导管上的力的大小、所述关节的全行程运动范围、所述关节的电机的步频以及放大步长的阈值，得到各个关节的迭代步长，从而得到所述机械臂的所有可能的调节路径。
  24. 根据权利要求23所述的术中不动点的调整方法，其特征在于，筛选得到期望的所述机械臂的调节路径的步骤包括：
    基于所述机械臂的一个或多个可能的调节路径，计算收敛判断函数。
  25. 根据权利要求24所述的术中不动点的调整方法，其特征在于，所述收敛判断函数包括收敛条件和约束条件；
    所述收敛条件包括：机械臂末端的移动方向与作用于所述引导管上的力的方向一致；以及，机械臂末端所受的力不增大；
    所述约束条件包括以下中的至少一者：
    机械臂之间不发生碰撞、机械臂末端的位姿改变小于预设阈值、以及各关节的位置在预设位置范围内。
  26. 根据权利要求24所述的术中不动点的调整方法，其特征在于，筛选得到期望的所述机械臂的调节路径的步骤还包括：
    基于所述机械臂的所有可能的调节路径，计算代价函数、启发函数及权重函数。
  27. 根据权利要求17所述的术中不动点的调整方法，其特征在于，在基于获取的作用于所述器械上的力和/或所述引导管上的力，调整所述机械臂的位姿的步骤之后，所述术中不动点的调整方法还包括：
    根据所述机械臂调整后的位姿，调整所述机械臂所连接的器械至合适位姿；
    匹配当前机械臂的位姿与医生控制端的控制臂的位姿。
  28. 一种可读存储介质，其上存储有程序，其特征在于，所述程序被执行时实现根据权利要求17～27中的任一项所述的术中不动点的调整方法。
  29. 一种不动点的调整***，其特征在于，包括：传感单元、动作单元以及控制单元；所述动作单元包括机械臂，所述机械臂用于连接穿过引导管的器械；所述传感单元用于获取作用于所述器械上的力，和/或，获取作用于所述引导管上的力；所述控制单元分别与所述传感单元和所述动作单元通信连接，并用于根据权利要求17～27中的任一项所述的术中不动点的调整方法，控制所述机械臂的位姿调整，以使所述不动点相对于支撑装置的位姿保持不变。
  30. 根据权利要求29所述的不动点的调整***，其特征在于，所述不动点的调整***还包括与所述控制单元通信连接的检测单元，所述检测单元用于检测所述动作单元的位姿变化信息，所述控制单元被配置为对所述动作单元与所述检测单元形成闭环控制。
  31. 一种手术机器人***，其特征在于，包括：支撑装置、引导管以及根据权利要求29或30所述的不动点的调整***，所述不动点的调整***的机械臂所连接的器械用于穿过所述引导管；所述不动点的调整***的控制单元用于调整所述机械臂的位姿，以使所述不动点相对于所述支撑装置的位姿保持不变。
PCT/CN2022/096744 2021-06-02 2022-06-02 支撑装置不动点随动调整***、术中不动点调整方法、可读存储介质及手术机器人*** WO2022253293A1 (zh)

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