Granted Patent B2

US 12,502,236 · App. 18/013,496 · Granted Dec 23, 2025

Inventors: Kai Xu (Beijing, CN); Haozhe Yang (Beijing, CN); Baibo Wu (Beijing, CN); Xiang Wang (Beijing, CN)

Assignee: BEIJING SURGERII ROBOTICS COMPANY LIMITED

A61B34/37A61B34/20A61B34/77A61B2034/2059A61B2034/2065A61B2034/2072

Abstract

Claims (77)

1 . A master-slave motion control method, comprising:

generating a first driving signal to drive a motion of a motor of a master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of a visual tool;

implementing a motion control between the master manipulator and the visual tool to adjust a field of view of a camera of the visual tool;

generating a second driving signal to drive a motion of the motor of the master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of an image of a surgical tool in a display; and

implementing a master-slave motion control between the master manipulator and the surgical tool through a plurality of control cycles,

wherein the method further comprises: in each control cycle,

determining a current pose of the master manipulator, the current pose comprising a current position and a current posture;

determining a target pose of the surgical tool based on the current pose of the master manipulator and a pose relationship between the master manipulator and the surgical tool; and

generating a control signal for controlling a motion of the surgical tool based on the target pose of the surgical tool.

2 . The control method according to claim 1 , wherein

the pose relationship comprises a relationship between a pose of the image of the surgical tool in the display relative to a reference coordinate system and a pose of the master manipulator relative to the reference coordinate system.

3 . The control method according to claim 2 , wherein

the pose relationship comprises at least one of the following:

a change amount of a position of the image of the surgical tool in the display relative to the reference coordinate system being proportional to a change amount of a position of the master manipulator relative to the reference coordinate system; or

a change amount of a posture of the image of the surgical tool in the display relative to the reference coordinate system being consistent with a change amount of a posture of the master manipulator relative to the reference coordinate system.

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

determining a current position of a handle of the master manipulator relative to a master manipulator base coordinate system;

determining a previous position of the handle relative to the master manipulator base coordinate system;

determining a current position of an end instrument of the surgical tool relative to a surgical tool base coordinate system; and

determining a target position of the end instrument relative to the surgical tool base coordinate system based on the previous position and the current position of the handle relative to the master manipulator base coordinate system, and the current position of the end instrument relative to the surgical tool base coordinate system.

5 . The control method according to claim 4 , wherein determining the target position of the end instrument relative to the surgical tool base coordinate system comprises:

determining the target position of the end instrument relative to the surgical tool base coordinate system based on the previous position and the current position of the handle relative to the master manipulator base coordinate system, a transformation relationship between the master manipulator base coordinate system and a display coordinate system, a transformation relationship between a camera coordinate system and the surgical tool base coordinate system, and the current position of the end instrument relative to the surgical tool base coordinate system.

6 . The control method according to claim 5 , wherein the transformation relationship between the surgical tool base coordinate system and the camera coordinate system is determined based on a transformation relationship between the surgical tool base coordinate system and a camera base coordinate system and a transformation relationship between the camera coordinate system and the camera base coordinate system.

7 . The control method according to claim 5 , wherein the display coordinate system is consistent with the camera coordinate system in terms of definition of a field-of-view direction.

8 . The control method according to claim 4 , wherein determining the target position of the end instrument relative to the surgical tool base coordinate system comprises:

determining the target position of the end instrument relative to the surgical tool base coordinate system based on the previous position and the current position of the handle relative to the master manipulator base coordinate system, a transformation relationship between the master manipulator base coordinate system and the surgical tool base coordinate system, and the current position of the end instrument relative to the surgical tool base coordinate system.

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

determining a current posture of a handle of the master manipulator relative to a master manipulator base coordinate system;

determining a previous posture of the handle relative to the master manipulator base coordinate system;

determining a current posture of an end instrument of the surgical tool relative to a surgical tool base coordinate system; and

determining a target posture of the end instrument relative to the surgical tool base coordinate system based on the previous posture and the current posture of the handle relative to the master manipulator base coordinate system, a transformation relationship between the surgical tool base coordinate system and the master manipulator base coordinate system, and the current posture of the end instrument of the surgical tool relative to the surgical tool base coordinate system.

10 . The control method according to claim 9 , wherein the transformation relationship between the surgical tool base coordinate system and the master manipulator base coordinate system is determined based on a transformation relationship between the surgical tool base coordinate system and a camera coordinate system, a transformation relationship between the camera coordinate system and the display coordinate system, and a transformation relationship between the display coordinate system and the master manipulator base coordinate system.

11 . The control method according to claim 10 , wherein the transformation relationship between the surgical tool base coordinate system and the camera coordinate system is determined based on a transformation relationship between the surgical tool base coordinate system and a camera base coordinate system and a transformation relationship between the camera coordinate system and the camera base coordinate system.

12 . The control method according to claim 11 , wherein

the surgical tool base coordinate system has a predetermined transformation relationship with the camera base coordinate system.

13 . The control method according to claim 11 , wherein a camera is arranged at an end of a flexible arm body that can be driven, and the transformation relationship between the camera coordinate system and the camera base coordinate system is determined based on driving information of the flexible arm body.

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

receiving current joint information of at least one joint of the master manipulator; and

determining the current pose of the master manipulator based on the joint information of the at least one joint.

15 . The control method according to claim 1 , wherein generating the control signal for the surgical tool comprises:

generating a driving signal for driving at least one driving apparatus of the surgical tool based on the target pose of the surgical tool.

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

receiving previous joint information of at least one joint of the master manipulator;

determining the previous pose of the master manipulator based on the previous joint information of the at least one joint, the previous pose comprising a previous position and a previous posture;

receiving current driving information of at least one driving apparatus of the surgical tool, wherein the at least one driving apparatus is operable to drive a flexible arm body of the surgical tool; and

determining the current pose of the surgical tool based on the current driving information of the at least one driving apparatus, the current pose comprising a current position and a current posture.

17 . A robot system, comprising:

a master manipulator, which comprises a mechanical arm, a handle arranged on the mechanical arm, and at least one master-manipulator sensor arranged in at least one joint of the mechanical arm, wherein the at least one master-manipulator sensor is operable to obtain joint information of the at least one joint;

at least one master manipulator driving apparatus operable to drive the master manipulator;

a surgical tool, which comprises a flexible arm body and an end instrument;

at least one surgical tool driving apparatus operable to drive the flexible arm body of the surgical tool;

at least one surgical tool driving-apparatus sensor coupled to the at least one surgical tool driving apparatus and operable to obtain driving information of the at least one surgical tool driving apparatus;

a visual tool, which comprises a flexible arm body and a camera;

at least one visual tool driving apparatus operable to drive the flexible arm body of the visual tool;

at least one visual tool driving-apparatus sensor coupled to the at least one visual tool driving apparatus and operable to obtain driving information of the at least one visual tool driving apparatus; and

a control apparatus in communication connection with the master manipulator, the at least one master manipulator driving apparatus, the at least one surgical tool driving apparatus and the at least one visual tool driving apparatus, wherein the control apparatus is configured to perform a control method comprising:

generating a first driving signal to drive a motion of a motor of a master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of a visual tool;

implementing a motion control between the master manipulator and the visual tool to adjust a field of view of a camera of the visual tool;

generating a second driving signal to drive a motion of the motor of the master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of an image of a surgical tool in a display; and

implementing a master-slave motion control between the master manipulator and the surgical tool through a plurality of control cycles,

wherein the method further comprises: in each control cycle,

determining a current pose of the master manipulator, the current pose comprising a current position and a current posture;

determine a target pose of the surgical tool based on the current pose of the master manipulator and a pose relationship between the master manipulator and the surgical tool; and

generating a control signal for controlling a motion of the surgical tool based on the target pose of the surgical tool.

18 . The robot system according to claim 17 , wherein the control method further comprises:

determining a previous pose of the master manipulator;

determining a current pose of the surgical tool; and

determining the target pose of the surgical tool based on the previous pose and the current pose of the master manipulator and the current pose of the surgical tool.

19 . A non-transitory computer-readable storage medium for storing at least one instruction that, when executed by a computer, causes a robot system to perform a master-slave motion control method, the method comprising:

generating a first driving signal to drive a motion of a motor of a master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of a visual tool;

implementing a motion control between the master manipulator and the visual tool to adjust a field of view of a camera of the visual tool;

generating a second driving signal to drive a motion of the motor of the master manipulator such that the master manipulator is controlled to move to a target posture that is consistent with a current posture of an image of a surgical tool in a display; and

implementing a master-slave motion control between the master manipulator and the surgical tool through a plurality of control cycles,

wherein the method further comprises: in each control cycle,

determining a current pose of the master manipulator, the current pose comprising a current position and a current posture;

determining a target pose of the surgical tool based on the current pose of the master manipulator and a pose relationship between the master manipulator and the surgical tool; and

generating a control signal for controlling a motion of the surgical tool based on the target pose of the surgical tool.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (30)