Control method for surgical robotic arm, computer device, and surgical robotic arm

A surgical robotic arm which comprises a preoperative positioning assembly, a telecentric manipulating assembly which comprises a parallel mechanism comprising a first movable platform, a static platform and a first telescopic element, an executing assembly comprising an executing rod, and a control system, the preoperative positioning assembly being connected to the telecentric manipulating assembly, and the telecentric manipulating assembly being connected to the executing assembly;

• the control system calculates a telecentric fixed point on the executing rod according to a target point, and controls the preoperative positioning assembly to advance the first movable platform along a first coordinate axis of a movable coordinate system, wherein the advanced distance is equal to a distance from the obtained telecentric fixed point to an end point on the executing assembly;
• the control system calculates a first origin coordinate of an origin of the first movable platform in a stationary coordinate system according to the coordinate of the telecentric fixed point and a trajectory coordinate of the end point;
• the control system calculates a length of the first telescopic element according to the coordinates of a movable hinge point and a static hinge point of the telecentric manipulating assembly in the stationary coordinate system, wherein the movable hinge point is positioned on the first movable platform, and the static hinge point is positioned on the static platform;
• and
• the control system controls the first movable platform to move to a designated pose, wherein the designated pose is determined according to the first origin coordinate and the length of the first telescopic element.

A computer device, comprising a memory, a processor and a computer program which is stored on the memory and is capable of running on a processor, wherein the processor implements steps of a control method for a surgical robot arm while executing the computer program,

• wherein the surgical robotic arm comprises a preoperative positioning assembly, a telecentric manipulating assembly which comprises a parallel mechanism comprising a first movable platform, a static platform and a first telescopic element, and an executing assembly comprising an executing rod, the preoperative positioning assembly is connected to the telecentric manipulating assembly, and the telecentric manipulating assembly is connected to the executing assembly,
• wherein the control method comprises:
• calculating a telecentric fixed point on the executing rod according to a target point;
• controlling the preoperative positioning assembly to advance the first movable platform along a first coordinate axis of a movable coordinate system, wherein the advanced distance is equal to a distance from an end point on the executing assembly to the telecentric fixed point;
• calculating a first origin coordinate of an origin of the first movable platform in a stationary coordinate system according to the coordinate of the telecentric fixed point and a trajectory coordinate of the end point;
• calculating a length of the first telescopic element according to the coordinates of a movable hinge point and a static hinge point of the telecentric manipulating assembly in the stationary coordinate system, wherein the movable hinge point is positioned on the first movable platform, and the static hinge point is positioned on the static platform;
• and
• controlling the first movable platform to move to a designated pose, wherein the designated pose is determined according to the first origin coordinate and the length of the first telescopic element.

A non-transitory computer readable storage medium storing a computer program thereon, wherein the computer program implements steps of a control method for a surgical robot arm while being executed by a processor,

• wherein the surgical robotic arm comprises a preoperative positioning assembly, a telecentric manipulating assembly which comprises a parallel mechanism comprising a first movable platform, a static platform and a first telescopic element, and an executing assembly comprising an executing rod, the preoperative positioning assembly is connected to the telecentric manipulating assembly, and the telecentric manipulating assembly is connected to the executing assembly,
• wherein the control method comprises:
• calculating a telecentric fixed point on the executing rod according to a target point;
• controlling the preoperative positioning assembly to advance the first movable platform along a first coordinate axis of a movable coordinate system, wherein the advanced distance is equal to a distance from an end point on the executing assembly to the telecentric fixed point;
• calculating a first origin coordinate of an origin of the first movable platform in a stationary coordinate system according to the coordinate of the telecentric fixed point and a trajectory coordinate of the end point;
• calculating a length of the first telescopic element according to the coordinates of a movable hinge point and a static hinge point of the telecentric manipulating assembly in the stationary coordinate system, wherein the movable hinge point is positioned on the first movable platform, and the static hinge point is positioned on the static platform;
• and
• controlling the first movable platform to move to a designated pose, wherein the designated pose is determined according to the first origin coordinate and the length of the first telescopic element.