Master-slave motion control method, robot system, device, and storage medium

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.

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.