Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical scheme of the application obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
Example 1
Fig. 1 is a flowchart of a master-slave control method of an laparoscopic surgery robot according to a first embodiment of the present invention, where the method may be performed by a master-slave control device of the laparoscopic surgery robot, the master-slave control device of the laparoscopic surgery robot may be implemented in hardware and/or software, and the master-slave control device of the laparoscopic surgery robot may be configured in a console of the laparoscopic surgery robot. As shown in fig. 1, the method includes:
s110, acquiring posture data of a control console tail end handle of the laparoscopic surgery robot relative to a control console root base.
In embodiments of the present invention, the laparoscopic surgical robot refers to medical equipment designed to perform various minimally invasive procedures. The endoscope operation robot comprises a control console and an operation platform, wherein the control console is in communication connection with the operation platform, the control console is used as a master end for realizing master-slave teleoperation, and the operation platform is used as a slave end for realizing master-slave teleoperation. The console refers to a platform on which a user performs surgical operations and controls. Illustratively, fig. 2 is a schematic structural diagram of a console of an endoscopic surgical robot according to an embodiment of the present invention, which may include, but is not limited to, a distal handle 1, a joint position sensor 2, a display device 3, a root base (not shown in the drawings), and the like, without being specifically limited thereto. The joint position sensor 2 may be provided at a robot arm joint of the console. The surgical platform may include a manipulator, a surgical bed, etc., and is not particularly limited herein.
The gesture data refers to the orientation of the tip handle and may include pitch angle, yaw angle, and swivel angle. Specifically, attitude data of a console end handle of the laparoscopic surgical robot relative to a console root base may be obtained through an articulation position sensor.
The method comprises the steps of establishing a control console tail end handle coordinate system and a control console root base coordinate system, and acquiring posture data of a tail end handle relative to the control console root base coordinate system under the control console tail end handle coordinate system, namely posture data of the control console tail end handle relative to the control console root base through a joint position sensor when master-slave teleoperation control is carried out.
And S120, performing comfort level compensation processing on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console, and obtaining a target main end gesture instruction of the laparoscopic surgery robot.
In the embodiment of the invention, the comfort level compensation processing refers to gesture data compensation operation of enabling the gesture of the operation platform of the slave end to reach the limit orientation without moving the wrist of the handle operator of the master end to the limit angle, so that the wrist works in the comfort gesture. The target main end gesture command refers to gesture data after comfort level compensation processing, and can be used for controlling a slave end operation platform, so that master-slave teleoperation is realized.
For example, the posture data of the control console tail end handle of the laparoscopic surgery robot relative to the control console root base can be subjected to comfort degree compensation processing through pre-calibrating the completed posture data, for example, when the wrist is tilted up to more than 45 degrees, the pitching angle in the posture data can be compensated according to the pre-configured pitching compensation angle. The gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console can be input into a gesture data compensation model which is trained in advance and is based on machine learning, and the model outputs gesture data after comfort level compensation processing.
S130, sending the target main end gesture instruction to a surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot can complete slave end gesture control operation based on the target main end gesture instruction.
The control system of the surgical platform can perform inverse kinematics calculation on the target main end gesture command after receiving the target main end gesture command to obtain the kinematics command of each joint of the slave arm of the surgical platform, so that the surgical platform can complete the slave end gesture control operation according to the kinematics command of each joint to realize master-slave teleoperation.
According to the technical scheme, the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console are obtained, so that the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console are subjected to comfort level compensation processing, a target main end gesture command of the laparoscopic surgery robot is obtained, and the target main end gesture command is sent to an operation platform of the laparoscopic surgery robot, so that the operation platform of the laparoscopic surgery robot can complete slave end gesture control operation based on the target main end gesture command. According to the technical scheme, the comfort level compensation processing is performed on the basis of the original posture data, so that the wrist of the operator at the master end does not need to move to a limit angle, and the posture of the operation platform at the slave end can reach the limit orientation, and the wrist can work in the comfort posture.
Example two
Fig. 3 is a flowchart of a master-slave control method of an laparoscopic surgery robot according to a second embodiment of the present invention, where the method of the present embodiment may be combined with each of the alternatives in the master-slave control method of the laparoscopic surgery robot provided in the foregoing embodiment. The master-slave control method of the endoscopic surgery robot provided by the embodiment is further optimized. Optionally, the comfort level compensation processing is performed on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console to obtain a target main end gesture command of the laparoscopic surgery robot, and the gesture compensation processing is performed on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console and/or the gesture compensation processing of the root base of the control console to obtain the target main end gesture command of the laparoscopic surgery robot.
As shown in fig. 3, the method includes:
S210, acquiring posture data of a control console tail end handle of the laparoscopic surgery robot relative to a control console root base.
S220, carrying out posture compensation processing on the tail end handle of the control console of the laparoscopic surgery robot and/or posture compensation processing on the root base of the control console relative to the posture data of the root base of the control console, and obtaining a target main end posture instruction of the laparoscopic surgery robot.
S230, sending the target main end gesture instruction to a surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot can complete slave end gesture control operation based on the target main end gesture instruction.
In the embodiment of the invention, the gesture compensation processing of the tail end handle of the control console refers to gesture compensation of the tail end handle, and similarly, the gesture compensation processing of the root base of the control console refers to gesture compensation of the root base.
In some alternative embodiments, performing attitude compensation processing of the console end handle of the laparoscopic surgical robot with respect to attitude data of the console root base includes one or more of obtaining a pitch compensation angle of the console end handle, performing pitch angle compensation processing of the console end handle with respect to attitude data of the console root base of the laparoscopic surgical robot based on the pitch compensation angle of the console end handle, obtaining a yaw compensation angle of the console end handle, performing yaw angle compensation processing of the console end handle with respect to attitude data of the console root base of the laparoscopic surgical robot based on the yaw compensation angle of the console end handle, obtaining a roll compensation angle of the console end handle, and performing roll angle compensation processing of the console end handle with respect to attitude data of the console root base based on the roll compensation angle of the console end handle.
Illustratively, the pitch compensation angle of the console end handle calibrated in advance by the user may be obtained, and then the pitch compensation matrix of the console end handle may be determined based on the pitch compensation angle of the console end handle, with the following calculation formula:
;
wherein A1 represents the pitch compensation angle of the console end handle,And similarly, the deflection compensation angle of the terminal handle of the control console calibrated in advance by a user can be obtained, and then the deflection compensation matrix of the terminal handle of the control console is determined based on the deflection compensation angle of the terminal handle of the control console, and the calculation formula is as follows:
;
wherein A2 represents the deflection compensation angle of the handle at the tail end of the control console,Representing a yaw compensation matrix of the console end handle;
similarly, the rotation compensation angle of the terminal handle of the control console calibrated in advance by the user can be obtained, and then the rotation compensation matrix of the terminal handle of the control console is determined based on the rotation compensation angle of the terminal handle of the control console, and the calculation formula is as follows:
;
wherein A3 represents the rotation compensation angle of the handle at the tail end of the control console,The rotation compensation matrix of the control console terminal handle is represented, and further, the calculation formula of the target main terminal gesture instruction can be as follows:
;
Wherein, thePosture data representing a console distal handle of the laparoscopic surgical robot relative to a console root base,And representing the target main end gesture instruction.
In other alternative embodiments, performing attitude compensation processing of a console root base on attitude data of a console end handle of the laparoscopic surgical robot relative to the console root base includes one or more of obtaining a pitch compensation angle of the console root base, performing pitch angle compensation processing of the console end handle of the laparoscopic surgical robot relative to the console root base based on the pitch compensation angle of the console root base, obtaining a yaw compensation angle of the console root base, performing yaw angle compensation processing of the console root base on attitude data of the console end handle of the laparoscopic surgical robot relative to the console root base based on the yaw compensation angle of the console root base, obtaining a swivel compensation angle of the console root base, and performing swivel angle compensation processing of the console end handle of the laparoscopic surgical robot relative to the console root base based on the swivel compensation angle of the console root base.
Illustratively, the pitch compensation angle of the console root base calibrated in advance by the user may be obtained, and then the pitch compensation matrix of the console root base may be determined based on the pitch compensation angle of the console root base, where the calculation formula is as follows:
;
wherein B1 represents the pitch compensation angle of the console root base,And similarly, the deflection compensation angle of the console root base calibrated in advance by a user can be obtained, and then the deflection compensation matrix of the console root base is determined based on the deflection compensation angle of the console root base, and the calculation formula is as follows:
;
wherein B2 represents the deflection compensation angle of the base of the root of the control console,Representing a yaw compensation matrix of a console root base;
Similarly, the rotation compensation angle of the console root base calibrated in advance by the user can be obtained, and then the rotation compensation matrix of the console root base is determined based on the rotation compensation angle of the console root base, and the calculation formula is as follows:
;
wherein B3 represents the rotation compensation angle of the base of the root of the control console,The rotation compensation matrix of the base of the control console root is represented, and further, the calculation formula of the gesture command of the main end of the target can be as follows:
;
Wherein, thePosture data representing a console distal handle of the laparoscopic surgical robot relative to a console root base,And representing the target main end gesture instruction.
Illustratively, the target master gesture instruction calculation formula may be:
。
According to the technical scheme, the gesture compensation processing of the tail end handle of the control console and/or the gesture compensation processing of the base of the root of the control console are/is performed on the basis of original gesture data, so that the wrist of a main end operator does not need to move to a limit angle, and the gesture of a surgical platform of a slave end can reach a limit orientation, and the wrist works in a comfortable gesture.
Example III
Fig. 4 is a flowchart of a master-slave control method of an laparoscopic surgery robot according to a third embodiment of the present invention, where the method of the present embodiment may be combined with each of the alternatives in the master-slave control method of the laparoscopic surgery robot provided in the foregoing embodiment. The master-slave control method of the endoscopic surgery robot provided by the embodiment is further optimized. Optionally, the comfort level compensation processing is performed on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console to obtain a target main end gesture command of the laparoscopic surgery robot, wherein the comfort level compensation processing is performed on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console to obtain the target main end gesture command of the laparoscopic surgery robot.
As shown in fig. 4, the method includes:
S310, acquiring posture data of a control console tail end handle of the laparoscopic surgery robot relative to a control console root base.
S320, determining target orientation data of a control console tail end handle of the endoscopic surgical robot.
In the embodiment of the invention, the target orientation data refer to pitch, yaw and rotation orientation data of the tail end handle.
For example, the average value or the median of the pitch, the yaw and the rotation direction data of the end handle can be obtained from a data recording system of different histories or histories of operators, and then the average value or the median of the pitch, the yaw and the rotation direction data of the end handle is determined as the common direction data, and then the common direction data is used as the target direction data. The common orientation data can be updated according to the real-time orientation data of the tail end handle, so that the updated common orientation data can be used as target orientation data.
S330, determining an attitude compensation angle based on target orientation data of a control console tail end handle of the endoscopic surgical robot.
For example, the calculation formula of the attitude compensation angle may be as follows:
Attitude compensation angle=inv (Inv (initial orientation attitude deviation matrix) ×target orientation data);
The initial orientation posture deviation matrix refers to a posture deviation matrix of the initial orientation of the tail end handle and the target orientation.
And S340, based on the attitude compensation angle, performing comfort level compensation processing on the attitude data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console, and obtaining a target main end attitude instruction of the laparoscopic surgery robot.
In the embodiment of the invention, a root base compensation matrix and/or a tail end handle compensation matrix can be constructed according to the attitude compensation angle, and then comfort compensation processing is carried out on the attitude data of the tail end handle of the console of the laparoscopic surgery robot relative to the root base of the console according to the root base compensation matrix and/or the tail end handle compensation matrix, wherein a specific calculation formula can be as follows:
;
Wherein, theRepresenting a root base compensation matrix,Representing the end handle compensation matrix.
In some alternative embodiments, after the posture compensation angle is obtained, an XYZ fixed angle may also be determined based on the posture compensation angle, and comfort compensation processing may be performed on posture data of a console end handle of the laparoscopic surgical robot relative to a console root base based on the XYZ fixed angle.
S350, sending the target main end gesture instruction to a surgical platform of the endoscopic surgical robot, so that the surgical platform of the endoscopic surgical robot completes slave end gesture control operation based on the target main end gesture instruction.
Optionally, after determining the attitude compensation angle based on the target orientation data of the console end handle of the laparoscopic surgical robot, further comprising adjusting an orientation of a console display device of the laparoscopic surgical robot based on the attitude compensation angle.
In the embodiment of the invention, the gesture compensation angle can also be used as a control instruction of mechanical degrees of freedom to adjust the orientation of the display device, so that an operator can obtain better visual feelings of hands, the display device and instrument pictures in the display device.
According to the technical scheme, the object orientation data of the tail end handle of the control console of the laparoscopic surgery robot is determined, the gesture compensation angle is determined according to the object orientation data of the tail end handle of the control console of the laparoscopic surgery robot, and the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the base of the root of the control console is subjected to comfort level compensation processing based on the gesture compensation angle, so that the wrist of a main end operator does not need to move to a limit angle, and the gesture of a surgery platform of a slave end can reach the limit orientation, so that the wrist works in a comfortable gesture.
Example IV
Fig. 5 is a schematic structural diagram of a master-slave control device of an laparoscopic surgery robot according to a fourth embodiment of the present invention. As shown in fig. 5, the apparatus includes:
a handle-base pose data acquisition module 410 for acquiring pose data of a console end handle of the laparoscopic surgical robot relative to a console root base;
The gesture data compensation processing module 420 is configured to perform a comfort level compensation process on gesture data of a control console tail end handle of the laparoscopic surgery robot relative to a control console root base, so as to obtain a target main end gesture instruction of the laparoscopic surgery robot, where the comfort level compensation process is a gesture data compensation operation that an operator wrist of the handle does not need to move to a limit angle, and the gesture of the surgical platform can reach a limit orientation, so that the wrist works in a comfortable gesture;
and a target master end gesture command sending module 430, configured to send the target master end gesture command to a surgical platform of the laparoscopic surgical robot, so that the surgical platform of the laparoscopic surgical robot completes a slave end gesture control operation based on the target master end gesture command.
According to the technical scheme, the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console are obtained, so that the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console are subjected to comfort level compensation processing, a target main end gesture command of the laparoscopic surgery robot is obtained, and the target main end gesture command is sent to an operation platform of the laparoscopic surgery robot, so that the operation platform of the laparoscopic surgery robot can complete slave end gesture control operation based on the target main end gesture command. According to the technical scheme, the comfort level compensation processing is performed on the basis of the original posture data, so that the wrist of the operator at the master end does not need to move to a limit angle, and the posture of the operation platform at the slave end can reach the limit orientation, and the wrist can work in the comfort posture.
In some alternative embodiments, the gesture data compensation processing module 420 includes:
and the handle-base posture compensation unit is used for carrying out posture compensation processing on the tail end handle of the control console of the laparoscopic surgery robot and/or posture compensation processing on the root base of the control console relative to the posture data of the root base of the control console so as to obtain a target main end posture instruction of the laparoscopic surgery robot.
In some alternative embodiments, the handle-base pose compensation unit comprises one or more of the following sub-units:
The system comprises a pitching angle compensation subunit of a tail end handle, a pitching angle compensation subunit of a control console tail end handle, a pitching angle compensation processing unit and a pitching angle compensation processing unit, wherein the pitching angle compensation subunit is used for acquiring a pitching compensation angle of the control console tail end handle;
The deflection angle compensation subunit of the tail end handle is used for acquiring a deflection compensation angle of the tail end handle of the control console, and performing deflection angle compensation processing on the gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the base of the root of the control console based on the deflection compensation angle of the tail end handle of the control console;
And the rotation angle compensation subunit is used for acquiring the rotation compensation angle of the tail end handle of the control console and carrying out rotation angle compensation processing on the tail end handle of the control console of the laparoscopic surgery robot relative to the posture data of the base of the root part of the control console based on the rotation compensation angle of the tail end handle of the control console.
In some alternative embodiments, the handle-base pose compensation unit comprises one or more of the following sub-units:
A pitch angle compensation subunit of the root base, configured to obtain a pitch compensation angle of the root base of the console; based on the pitching compensation angle of the console root base, performing pitching angle compensation processing on posture data of a console tail end handle of the laparoscopic surgery robot relative to the console root base;
The deflection angle compensation subunit of the root base is used for acquiring a deflection compensation angle of the control console root base, and performing deflection angle compensation processing on the control console end handle of the laparoscopic surgery robot relative to the gesture data of the control console root base based on the deflection compensation angle of the control console root base;
The system comprises a control console root base, a rotation angle compensation subunit and a control console root base processing unit, wherein the control console root base is used for acquiring a rotation compensation angle of the control console root base, and the rotation angle compensation processing of the control console root base is performed on gesture data of a control console end handle of the laparoscopic surgery robot relative to the control console root base based on the rotation compensation angle of the control console root base.
In some alternative embodiments, the handle-base pose data acquisition module 410 includes:
The joint position sensor acquisition unit is used for acquiring the gesture data of the tail end handle of the console of the laparoscopic surgery robot relative to the root base of the console through the joint position sensor.
In some alternative embodiments, the gesture data compensation processing module 420 includes:
A target orientation data determining unit configured to determine target orientation data of a console end handle of the laparoscopic surgery robot;
a posture compensation angle determining unit for determining a posture compensation angle based on target orientation data of a console end handle of the laparoscopic surgery robot;
And the target main end gesture instruction determining unit is used for carrying out comfort level compensation processing on gesture data of the tail end handle of the control console of the laparoscopic surgery robot relative to the root base of the control console based on the gesture compensation angle to obtain a target main end gesture instruction of the laparoscopic surgery robot.
In some alternative embodiments, the master-slave control device of the laparoscopic surgical robot further comprises:
And the control console display equipment adjusting unit is used for adjusting the orientation of the control console display equipment of the laparoscopic surgery robot based on the attitude compensation angle.
The master-slave control device of the laparoscopic surgery robot provided by the embodiment of the invention can execute the master-slave control method of the laparoscopic surgery robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 6 shows a schematic structural diagram of a console 10 of an laparoscopic surgical robot that may be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the console 10 of the laparoscopic surgical robot includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which a computer program executable by the at least one processor is stored, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the console 10 of the laparoscopic surgery robot can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An I/O interface 15 is also connected to bus 14.
Various components in the console 10 of the laparoscopic surgical robot are connected to an I/O interface 15, including an input unit 16 such as a keyboard, a mouse, etc., an output unit 17 such as various types of displays, speakers, etc., a storage unit 18 such as a magnetic disk, an optical disk, etc., and a communication unit 19 such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the console 10 of the laparoscopic surgical robot to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a master-slave control method of an laparoscopic surgical robot, the method comprising:
acquiring attitude data of a control console tail end handle of the laparoscopic surgery robot relative to a control console root base;
Performing comfort level compensation processing on gesture data of a tail end handle of a control console of the laparoscopic surgery robot relative to a base at the root of the control console to obtain a target main end gesture instruction of the laparoscopic surgery robot, wherein the comfort level compensation processing refers to gesture data compensation operation that a wrist of a handle operator does not need to move to a limit angle, and the gesture of an operation platform can reach a limit orientation, so that the wrist works under a comfortable gesture;
And sending the target main end gesture instruction to an operation platform of the endoscopic surgery robot so that the operation platform of the endoscopic surgery robot can complete slave end gesture control operation based on the target main end gesture instruction.
In some embodiments, the master-slave control method of the laparoscopic surgical robot may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the console 10 of the laparoscopic surgical robot via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the master-slave control method of the laparoscopic surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a master-slave control method of the laparoscopic surgical robot in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system-on-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described herein can be implemented on a control console of a laparoscopic surgical robot having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the control console of the laparoscopic surgical robot. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.