EP-4740888-A1 - MOTION CONTROL METHOD FOR ROBOT SYSTEM, AND SURGICAL ROBOT

EP4740888A1EP 4740888 A1EP4740888 A1EP 4740888A1EP-4740888-A1

Abstract

The present disclosure relates to the field of medical instruments, and discloses a motion control method of robot system and surgical robot. The robot system comprises a mobile platform, at least one motion arm disposed on the mobile platform, and an input device for controlling the motion of the motion arm and the mobile platform. The control method includes receiving input information corresponding to user input from an input device, and controlling the motion arm or the mobile platform to move based on the input information. Based on the user's operational input to the input device, the motion of the motion arm or the mobile platform may be easily achieved, making the preoperative positioning operation convenient and easy, and reducing preoperative preparation time.

Inventors

XU, KAI
ZHAO, Jiangran
SHI, HAO
HU, Yonghui

Assignees

Beijing Surgerii Robotics Company Limited

Dates

Publication Date: 20260513
Application Date: 20240603

Claims (20)

A motion control method for a robot system, wherein the robot system comprises a mobile platform, at least one motion arm disposed on the mobile platform, and an input device, the input device is used to control a motion of the motion arm and the mobile platform, the control method comprises: receiving, from the input device, input information corresponding to user input; and controlling, based on the input information, the motion arm or the mobile platform to move.
The control method according to claim 1, wherein the input device comprises at least one of: a grip disposed on the motion arm, an operating handle, an input interface, or at least one mechanical button.
The control method according to claim 2, wherein the input device comprises a motion arm adjustment mode selection key or a mobile platform adjustment mode selection key; the motion arm adjustment mode selection key comprises a motion arm position adjustment mode selection key and a motion arm orientation adjustment mode selection key; The control method comprises: receiving the selection of the motion arm adjustment mode or the mobile platform adjustment mode.
The control method according to claim 2 or 3, wherein the operating handle is configured to move in at least two dimensions; or the input interface comprises input keys configured to adjust in at least two dimensions; or the at least one mechanical button comprises multiple buttons configured to adjust in at least two dimensions.
The control method according to claim 2 or 3, wherein the input device comprises a grip disposed on the motion arm, the grip is used to control the motion of the motion arm and the mobile platform, and the grip comprises at least one force sensor, the user input comprises a force and/or a torque applied to the grip, the input information comprises force sensor information corresponding to the force and/or the torque applied to the grip, the control method comprises: receiving, from the at least one force sensor, force sensor information corresponding to the force and/or the torque applied to the grip; and controlling, based on the force sensor information, the motion arm or the mobile platform to move.
The control method according to any one of claims 2-4, wherein the input device comprises an operating handle, the user input comprises an operating action to the operating handle, the input information comprises handle operating information, the control method comprises: receiving, from the operating handle, handle operating information corresponding to the operating action to the operating handle; and controlling, based on the handle operating information, the motion arm or the mobile platform to move; or the input device comprises an input interface, the user input comprises operating action to the input interface, the input information comprises interface operating information, the control method comprises: receiving, from the input interface, the interface operating information corresponding to the operating action to the input interface; and controlling, based on the interface operating information, the motion arm or the mobile platform to move; or the input device comprises a mechanical button, the user input comprises operating action to the mechanical button, the input information comprises button operating information, the control method comprises: receiving, from the mechanical button, the button operating information corresponding to the operating action to the mechanical button; and controlling, based on the button operating information, the motion arm or the mobile platform to move.
The control method according to any one of claims 1-6, wherein the motion of the mobile platform comprises at least one of: mobile platform moving forward and backward, mobile platform turning left and right, or mobile platform ascending and descending; or the motion of the motion arm comprises at least one of: the motion arm deflects left and right, the motion arm rolls left and right, the motion arm leans up and down, the motion arm moves left and right, the motion arm moves up and down, or the motion arm moves forward and backward.
The control method according to claim 5, wherein the force sensor information comprises force vector information and/or torque vector information, the control method further comprises: determining, based on the force sensor information, a target velocity and/or a target angular velocity of a control point of the motion arm relative to a reference coordinate system; generating, based on the target velocity and/or the target angular velocity of the control points of the motion arm relative to the reference coordinate system, motion control instructions for the motion arm; and controlling, based on the motion control instructions for the motion arm, the motion arm to move; or the control method further comprises: determining, based on the force sensor information, a target velocity and/or a target angular velocity of a control point of the mobile platform; generating, based on the target velocity and/or the target angular velocity of the control point of the mobile platform, motion control instructions for the mobile platform; and controlling, based on the motion control instructions for the mobile platform, the mobile platform to move.
The control method according to claim 8, wherein the method comprises: determining, based on force vector information and/or torque vector information of the force sensor, a target velocity and/or a target angular velocity of the control point in a control point coordinate system; and determining, based on a target velocity and/or a target angular velocity of the control point in a control point coordinate system and a transformation relationship between the control point coordinate system and the reference coordinate system, a target velocity and/or a target angular velocity of the control point relative to a reference coordinate system.
The control method according to claim 9, wherein determining a target velocity and/or a angular velocity of the control point in a control point coordinate system comprises: determining, based on the force vector information and the transformation relationship between a force sensor coordinate system and the control point coordinate system, force vector information in a control point coordinate system; and determining, based on a force proportional coefficient, a target velocity of the control point in a control point coordinate system; and/or determining, based on the torque vector information and the transformation relationship between a force sensor coordinate system and the control point coordinate system, torque vector information in a control point coordinate system; and determining, based on a torque proportional coefficient, a target angular velocity of the control point in a control point coordinate system.
The control method according to claim 9 or 10, wherein, the control point coordinate system comprises a trocar coordinate system, a trocar fixing point coordinate system or remote center of motion (RCM) coordinate system; and/or an origin of the reference coordinate system is located at an intersection of a ground and a proximal joint axis of the motion arm.
The control method according to any one of claims 8-11, wherein the motion arm, or the motion arm and the mobile platform, comprise one or more joints and one or more joint motors that drive the one or more joints, generating motion control instructions for the motion arm comprises: determining, based on a target velocity and/or a target angular velocity of a control point of the motion arm relative to the reference coordinate system, joint values and joint velocities of the one or more joints; and determining, based on joint values and joint velocities of the one or more joints, driving control instructions for the one or more joint motors.
The control method according to claim 12, wherein the one or more joints comprise: a lifting joint of the mobile platform; and a first transverse arm rotation joint, a second transverse arm rotation joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint of the motion arm; or the one or more joints comprise: a first transverse arm rotation joint, a second transverse arm rotation joint, a lifting joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint of the motion arm.
The control method according to any one of claims 8-13, wherein the method comprises: determining, based on the force vector information and a transformation relationship between a force sensor coordinate system and the mobile platform control point coordinate system, force vector information in the mobile platform control point coordinate system; and/or determining, based on force vector information in the mobile platform control point coordinate system, torque vector information in the mobile platform control point coordinate system.
The control method according to claim 14, wherein determining a target velocity and/or a target angular velocity of a control point of the mobile platform comprises: determining, based on a forward direction component of force vector information in the mobile platform control point coordinate system, a force in a forward direction of the mobile platform; and determining, based on a forward force proportional coefficient, a target forward velocity of the mobile platform; and/or determining, based on a vertical direction component of torque vector information in the mobile platform control point coordinate system, a torque of turning of the mobile platform; and determining, based on a turning torque proportional coefficient, a target angular velocity of the mobile platform; and/or determining, based on a vertical direction component of force vector information in the mobile platform control point coordinate system, a force in a lifting direction of the mobile platform; and determining, based on a lifting proportional coefficient, a target lifting velocity of the mobile platform.
The control method according to claim 15, wherein the mobile platform comprises one or more active casters and one or more caster motors driving the active casters, the method comprises: determining, based on a target forward velocity of the mobile platform and a target angular velocity of the mobile platform, target velocities of the one or more active casters; and determining, based on target velocities and radii of the one or more active casters, driving control instructions for the one or more active caster motors; and/or the mobile platform comprises a column, a lifting joint connected with the column and a column lifting motor driving the column lifting joint, the method comprises: determining, based on a target lifting velocity of the mobile platform, driving control instructions for the column lifting motor.
The control method according to claim 16, wherein, the active casters comprise a first caster and a second caster that are disposed symmetrically; a vertical height of an origin of the mobile platform control point coordinate system is the same as a vertical height of the reference coordinate system, a horizontal position of an origin of the mobile platform control point coordinate system is projected within the ground as a projection of a midpoint of the first caster and the second caster on the ground.
A surgical robot comprising: a mobile platform; a motion arm, the motion arm is movably disposed on the mobile platform; a grip disposed on the motion arm and used to control motions of the motion arm and the mobile platform, the grip comprises at least one force sensor, the force sensor is used to detect a force or torque externally applied to the grip; and a controller configured to execute the control method according to any one of claims 1-17.
A computer storage medium, wherein the storage medium comprises at least one instruction, the at least one instruction is executed by a processor to configure the processor to execute the control method according to any one of claims 1-17.
A computer system comprises: a storage medium comprising at least one instruction; and a processor configured to execute the at least one instruction to configure the processor to execute the control method according to any one of claims 1-17.

Description

Cross-reference to Relevant Applications The present application claims the priority of a Chinese Patent Application with Application No. 2023109398598, filed on July 28, 2023, entitled "Motion control method of robot system and surgical robot", and Application No. 2023108315579, filed on July 7, 2023, entitled "Motion control method of robot system and surgical robot", the full disclosure of these applications is incorporated herein by reference in their entirety. Technical Field The present disclosure relates to the field of medical instruments, in particular to a motion control method of robot system and surgical robot. Background Compared with traditional open surgery, minimally invasive endoscopic surgery has the advantages of less surgical trauma, faster postoperative recovery, lower postoperative infections and complications, and has been widely used. Regarding the existing endoscopic surgical robot system, surgical instruments are carried by a motion arm. According to different patients and surgical procedures, it is necessary to adjust the positioning of the motion arm before or during the surgery so that the surgical instrument can be adjusted to the designated position for the surgery. During the surgery, the surgeon in charge controls the surgical effectors at the distal end terminal of the surgical instrument to realize surgeries at different parts by using remote operation mode. At present, using surgical robots to achieve surgical procedures mainly includes three processes: preoperative positioning, surgical preparation, and postoperative organization. In the preoperative positioning and preparation process, the surgical assistant (such as a nurse or doctor) needs to move the surgical robot to the patient's side, and then adjust at least one motion arm to the appropriate position and orientation according to the type of surgery and the surgical position, so that the at least one motion arm can be connected with the trocar, so that the surgical instrument on the motion arm can enter the corresponding position in the human body requiring surgery through the trocar. During the surgery, the surgical instrument is controlled by remote operation and driven by the instructions from the input end to reach various positions and angles within the range, so as to achieve various operating actions. The movement of existing surgical robot systems relies on manual dragging, which is inconvenient and time-consuming to operate; the pose of the motion arm is usually automatically adjusted by the system, and adjustments for some specific poses are time-consuming. The convenience of movement of the surgical robot system, as well as the abilities for pose adjusting and positioning of the external motion arm in the space, directly affect the preoperative preparation time and operational experience. Summary of the Invention In some embodiments, the present disclosure provides a motion control method for a robot system, the robot system comprises a mobile platform, at least one motion arm disposed on the mobile platform, and an input device, the input device is used to control a motion of the motion arm and the mobile platform, the control method comprises: receiving, from the input device, input information corresponding to user input; andcontrolling, based on the input information, the motion arm or the mobile platform to move. In some embodiments, the present disclosure further provides a surgical robot comprises: a mobile platform;a motion arm, the motion arm is movably disposed on the mobile platform;a grip disposed on the motion arm and used to control motions of the motion arm and the mobile platform, the grip comprises at least one force sensor, the force sensor is used to detect a force or torque externally applied to the grip; anda controller configured to execute the control method as described in any embodiment of the present disclosure. In some embodiments, the present disclosure further provides a computer storage medium, the storage medium comprising at least one instruction, the at least one instruction is executed by a processor to configure the processor to execute the control method as described in any embodiment of the present disclosure. In some embodiments, the present disclosure further provides a computer system comprises: a storage medium comprising at least one instruction; anda processor configured to execute the at least one instruction to configure the processor to execute the control method as described in any embodiment of the present disclosure. Brief Description of the Drawings In order to explain the technical solutions in the embodiments of the present disclosure more clearly, the accompanying drawings used in the description of the embodiments of the present disclosure will be briefly introduced below. The accompanying drawings in the following description only show some of the embodiments of the present disclosure, and for those of ordinary skill in the art, other embodiments wo