Granted Patent B2

US 12,485,542 · App. 18/010,733 · Granted Dec 2, 2025

Inventors: Kai Xu (Beijing, CN); Jiangran Zhao (Beijing, CN)

Assignee: BEIJING SURGERII ROBOTICS COMPANY LIMITED

B25J9/1682A61B34/30A61B2034/301B25J15/0019

Abstract

Claims (46)

1 . A control method for a robot system, wherein the robot system comprises a plurality of motion arms, the plurality of motion arms comprise a reference motion arm and at least one following motion arm, the control method comprises:

controlling, based on an input command, the reference motion arm to move to a reference position and a reference orientation configured for the reference motion arm to be connected to a first cannula of a cannula assembly;

determining a positioning position and a positioning orientation configured for the at least one following motion arm to being connected to at least one second cannula of the cannula assembly based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and

controlling the at least one following motion arm to move to the positioning position and the positioning orientation,

wherein the at least one following motion arm comprises a plurality of following motion arms, and the method further comprises:

determining a motion sequence of the plurality of following motion arms based on an initial position of each of the plurality of following motion arms and the reference position of the reference motion arm; and

controlling, after the reference motion arm is moved to the reference position and the reference orientation, based on the motion sequence, the plurality of following motion arms to sequentially move to the positioning position and the positioning orientation.

2 . The control method according to claim 1 , further comprising:

determining the relative pose relationship between the plurality of motion arms based on a surgical type or a cannula assembly configuration, wherein the relative pose relationship comprises a relative pose relationship between the at least one following motion arm and the reference motion arm.

3 . The control method according to claim 1 , wherein the input command comprises a command input by a user by using an input apparatus or an instruction stored on a non-volatile storage medium.

4 . The control method according to claim 1 , wherein positions and orientations of the plurality of motion arms comprise one of the following:

positions and orientations of end arms of the motion arms;

positions and orientations of remote centers of motion (RCM) of the motion arms; or

positions and orientations of ends, for being connected to a cannula assembly, on the motion arms.

5 . The control method according to claim 1 , further comprising:

determining a predicted position and a predicted orientation of the at least one following motion arm based on the relative pose relationship; and

performing simulated control over the at least one following motion arm based on the predicted position and the predicted orientation.

6 . The control method according to claim 5 , wherein the performing simulated control over the at least one following motion arm based on the predicted position and the predicted orientation comprises:

determining, based on the predicted position and the predicted orientation, whether the at least one following motion arm is within a motion range limit, and whether there is an undesired relationship between the at least one following motion arm and/or between the at least one following motion arm and the reference motion arm.

7 . The control method according to claim 6 , further comprising:

in response to a simulated control failure, adjusting the predicted position and the predicted orientation of the at least one following motion arm, to avoid the motion range limit or the undesired relationship.

8 . The control method according to claim 6 , further comprising:

in response to a simulated control success, determining the predicted position and the predicted orientation of the at least one following motion arm as the positioning position and the positioning orientation of the at least one following motion arm.

9 . The control method according to claim 7 , wherein the adjusting the predicted position and the predicted orientation of the at least one following motion arm comprises:

adjusting the predicted position based on a basic distance adjustment unit; and

adjusting the predicted orientation based on a basic angle adjustment unit.

10 . The control method according to claim 6 , wherein the motion range limit comprises a motion limit of each of a plurality of joints of the reference motion arm and the at least one following motion arm, or the undesired relationship comprises a collision.

11 . The control method according to claim 1 , further comprising:

detecting an abnormality that occurs during motion of the at least one following motion arm; and

based on the abnormality, controlling the at least one following motion arm to stop moving or sending of alarm information.

12 . The control method according to claim 11 , wherein the abnormality comprises at least one of the following: there is an undesired relationship between at least two of the plurality of motion arms, at least one of the at least one following motion arm exceeds the motion range limit, or a sterile protective sleeve on at least one of the plurality of motion arms falls off.

13 . The control method according to claim 1 , wherein the robot system further comprises a surgical instrument detachably connected to the plurality of motion arms, and the reference position and the reference orientation of the reference motion arm and the positioning position and the positioning orientation of the at least one following motion arm are configured for the surgical instrument to reach a surgical operation area through the cannula assembly.

14 . The control method according to claim 13 , wherein a target position and a target orientation of the surgical instrument in the cannula assembly are determined based on the reference position and the reference orientation of the reference motion arm, the positioning position and the positioning orientation of the following motion arm, and a position and an orientation of the cannula assembly.

15 . A robot system, comprising:

a plurality of motion arms, wherein the plurality of motion arms comprise a reference motion arm and at least one following motion arm; and

a control apparatus, configured to: control, based on received input information, the reference motion arm to move to a reference position and a reference orientation configured for the reference motion arm to be connected to a first cannula of a cannula assembly, determine a positioning position and a positioning orientation configured for the at least one following motion arm to being connected to at least one second cannula of the cannula assembly based on the determined reference position and reference orientation and a relative pose relationship between the plurality of motion arms, and control the at least one following motion arm to move to the positioning position and the positioning orientation,

wherein the at least one following motion arm comprises a plurality of following motion arms, and the control apparatus is further configured to:

determine a motion sequence of the plurality of following motion arms based on an initial position of each of the plurality of following motion arms and the reference position of the reference motion arm; and

control, after the reference motion arm is moved to the reference position and the reference orientation, based on the motion sequence, the plurality of following motion arms to sequentially move to the positioning position and the positioning orientation.

16 . A computer-readable storage medium comprising at least one instruction, wherein the at least one instruction is executed by a processor, such that the processor is configured to:

control, based on an input command, the reference motion arm to move to a reference position and a reference orientation configured for the reference motion arm to be connected to a first cannula of a cannula assembly;

determine a positioning position and a positioning orientation configured for the at least one following motion arm to being connected to at least one second cannula of the cannula assembly based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and

control the at least one following motion arm to move to the positioning position and the positioning orientation,

wherein the at least one following motion arm comprises a plurality of following motion arms, and the processor is further configured to:

determine a motion sequence of the plurality of following motion arms based on an initial position of each of the plurality of following motion arms and the reference position of the reference motion arm; and

control, after the reference motion arm is moved to the reference position and the reference orientation, based on the motion sequence, the plurality of following motion arms to sequentially move to the positioning position and the positioning orientation.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (21)