Surgical assistance robot support arm unlocking method, device and system

Abstract

The present application relates to a method, device and system for unlocking a support arm of a surgical assistance robot. The surgical assistance robot system includes: a surgical assistance robot, a support unlocking mechanism and an acceleration sensor. The surgical assistance robot includes a support arm and a control device; the support unlocking mechanism is arranged on the support arm and is communicatively connected with the control device. The support arm is mechanically connected to the operating table system through the support unlocking mechanism, and the support unlocking mechanism can receive an unlocking signal to realize the separation of the support arm from the operating table system; the acceleration sensor is arranged on the operating table system and is communicatively connected with the control device, and is used for detecting the acceleration data of the operating table system. The control device is used for determining whether the operating table system is in a safe state according to the acceleration data. If the operating table system is in a non-safe state, an unlocking signal is sent to the support unlocking mechanism. The method, device and system provided by the present application can ensure the personal safety of patients.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a method, device and system for unlocking a support arm of a surgical assistance robot. Background Art

[0002] The purpose of a surgical assistance robot is to assist a doctor in performing a surgery, thereby improving the surgical precision and efficiency, and reducing the pain of the patient and the burden on the doctor. To ensure the surgical precision, it is often necessary to fix the surgical site on the operating table through a bracket and fixedly connect the operating table with the support arm of the surgical assistance robot. For example, taking a head surgery as an example, it is necessary to fix the patient's head on the operating table through a headrest and fixedly connect the headrest with the support arm to prevent the patient's head from moving during the surgery.

[0003] However, if the operating table collapses, tilts or has other accidents, the patient's body will sink along with the operating table. At this time, the patient's surgical site is still fixed on the bracket fixedly connected with the support arm, which may cause serious harm to the patient's surgical site and even pose a life threat. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device and system for unlocking a support arm of a surgical assistance robot for the above problems.

[0005] A surgical assistance robot system is used to cooperate with an operating table system to achieve assisted surgery. The surgical assistance robot system includes:

[0006] A surgical assistance robot, which includes a support arm and a control device;

[0007] A support unlocking mechanism is arranged on the support arm and is in signal connection with the control device. The support unlocking mechanism can receive an unlocking signal to realize the separation of the support arm from the operating table system;

[0008] An acceleration sensor is arranged on the operating table system for detecting the acceleration data of the operating table system;

[0009] The control device is used to determine whether the operating table system is in a safe state according to the acceleration data. If the operating table system is in a non-safe state, the unlocking signal is sent to the support unlocking mechanism.

[0010] In one embodiment, the operating table system includes:

[0011] An operating table, and the acceleration sensor is arranged on the operating table;

[0012] The surgical stent is disposed on the operating table and is mechanically connected to the support unlocking mechanism for fixing the surgical site of the patient.

[0013] In one embodiment, the acceleration sensor is disposed at one end of the operating table close to the surgical stent.

[0014] A method for unlocking the support arm of a surgical assistant robot, which is used to realize the detachment of the support arm of the surgical assistant robot system from the operating table system. The surgical assistant robot system includes a support arm unlocking device. The method includes:

[0015] Obtain acceleration data;

[0016] Determine whether the operating table system is in a safe state according to the acceleration data;

[0017] If the operating table system is in a non-safe state, send an unlocking signal to the support unlocking mechanism. The unlocking signal is used for the support unlocking mechanism to realize the detachment of the support arm from the operating table system.

[0018] In one embodiment, the determining whether the operating table system is in a safe state according to the acceleration data includes:

[0019] If the acceleration data is greater than or equal to a first threshold, determine that the operating table system is in a non-safe state.

[0020] In one embodiment, the method further includes:

[0021] If the acceleration data is less than the first threshold, determine that the operating table system is in a safe state.

[0022] In one embodiment, the method further includes:

[0023] If the operating table system is in a safe state, determine whether the operating table system is in a stable state according to the acceleration data;

[0024] If the operating table system is in an unstable state, output an alarm message.

[0025] In one embodiment, the determining whether the operating table system is in a stable state according to the acceleration data includes:

[0026] If the acceleration data is greater than or equal to a second threshold, determine that the operating table system is in an unstable state, where the second threshold is less than the first threshold.

[0027] In one embodiment, the obtaining of the acceleration data includes:

[0028] Obtain the original acceleration data;

[0029] Perform denoising processing on the original acceleration data to obtain the acceleration data.

[0030] A support arm unlocking device for a surgical assistance robot, which is used to realize the detachment of the support arm of the surgical assistance robot system from the operating bed system. The surgical assistance robot system includes a support arm unlocking device. The surgical assistance robot support arm unlocking device includes:

[0031] A data acquisition module, which is used to acquire acceleration data;

[0032] A safety state determination module, which is used to determine whether the operating bed system is in a safe state according to the acceleration data;

[0033] An unlocking module, which is used to send an unlocking signal to the support unlocking mechanism if the operating bed system is in a non-safe state. The unlocking signal is used for the support unlocking mechanism to realize the detachment of the support arm from the operating bed system.

[0034] A computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the method described in any one of the above are realized.

[0035] A computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the steps of the method described in any one of the above are realized.

[0036] The surgical assistance robot support arm unlocking method, device and system provided by the embodiments of the present application obtain acceleration data, and determine whether the operating bed system is in a safe state according to the acceleration data. If not, an unlocking signal is sent to the support unlocking mechanism. The method, device and system provided by this embodiment can realize the detachment of the support arm from the operating bed system when the operating bed system collapses, tilts or has other accidents, ensuring the personal safety of the patient. And by real-time monitoring and analyzing the acceleration data, the detachment of the operating bed system from the surgical assistance robot is automatically realized, with high intelligence, and more accurate and timely. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of a surgical device provided by an embodiment of the present application;

[0038] Figure 2 It is a partial enlarged view of the support unlocking mechanism of the surgical assistance robot system provided by an embodiment of the present application connecting the support arm and the headrest mechanism;

[0039] Figure 3Schematic diagram of the support unlocking mechanism provided by an embodiment of the present application;

[0040] Figure 4 Cross-sectional view of the second connecting block and the first connecting block in the support unlocking mechanism provided by an embodiment of the present application;

[0041] Figure 5 Schematic diagram of the step flow of the support arm unlocking method for a surgical assistance robot provided by an embodiment of the present application;

[0042] Figure 6 Schematic diagram of the step flow of the support arm unlocking method for a surgical assistance robot provided by an embodiment of the present application;

[0043] Figure 7 Schematic diagram of the step flow of the support arm unlocking method for a surgical assistance robot provided by an embodiment of the present application;

[0044] Figure 8 Block diagram of the support arm unlocking device for a surgical assistance robot provided by an embodiment of the present application;

[0045] Figure 9 Internal structure block diagram of a computer device provided by an embodiment of the present application.

[0046] Description of reference numerals:

[0047] Surgical assistance robot system 100;

[0048] Support unlocking mechanism 110; Rotation driving part 111;

[0049] First connection assembly 112; First connection block 1121; First tooth part 11211; Connection arm 1122;

[0050] Second connection assembly 113; Rotation threaded part 1131; Second connection block 1132; Second tooth part 11321;

[0051] Shaft coupling assembly 114; Coupling 1141; Connecting part 1142;

[0052] Guide assembly 115; First guide part 1151; Second guide part 1152;

[0053] Surgical assistance robot 120; Robot body 121; Manipulator arm 122; Support arm 123; Control device 124;

[0054] Acceleration sensor 130;

[0055] Operating bed system 200; Operating bed 210; Operating bracket 220; Headrest 221; Support rod 222;

[0056] Head 300. Detailed implementation manners

[0057] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0059] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0060] Please refer to Figure 1 , an embodiment of the present application provides a surgical assistance robot system 100, and the surgical assistance robot system 100 is used to assist a doctor in performing an operation. The surgical assistance robot system 100 is used in cooperation with an operating table system 200. The operating table system 200 is used to support and fix a patient. In order to ensure the surgical accuracy, the surgical site of the patient will be fixed on the operating table system 200. For example, if the surgical site is the head 300, the head 300 of the patient is fixed to the operating table system 200 through a specific device; if the surgical site is the leg, the leg of the patient is fixed to the operating table system 200 through a specific device.

[0061] The surgical assistance robot system 100 includes a support unlocking mechanism 110, a surgical assistance robot 120, and an acceleration sensor 130.

[0062] Among them, the surgical assistant robot 120 includes a robot body 121, a robotic arm 122, a support arm 123, and a control device 124. The robot body 121 is mechanically connected to both the robotic arm 122 and the support arm 123, and is used to support the robotic arm 122 and the support arm 123. The control device 124 is communicatively connected to the robot body 121 and is used to control the movement of the robot body 121. At the same time, the control device 124 can also control the movement of the robotic arm 122 through the robot body 121 to perform surgery on the patient.

[0063] The support arm 123 is used to connect the robot body 121 to the operating bed system 200. Of course, the support arm 123 may also have other functions. The specific structure, material, and connection method of the support arm 123 to the operating bed system 200 can be selected according to actual needs. The operating bed system 200 is connected to the robot body 121 through the support arm 123, so that the relative fixation between the operating bed system 200 and the robot body 121 can be realized, preventing relative displacement changes between the two during the operation and ensuring the surgical accuracy. However, when accidents such as the collapse or tilt of the operating bed system 200 occur, since the surgical site of the patient is fixed, and the operating bed system 200 is connected to the support arm 123, other parts of the patient sink, while the surgical site is subjected to the traction force of the support arm 123, which will seriously harm the patient.

[0064] Therefore, the surgical assistant robot system 100 provided in this embodiment further includes a support unlocking mechanism 110. The support unlocking mechanism 110 is arranged on the support arm 123. The support unlocking mechanism 110 can realize the connection between the support arm 123 and the operating bed system 200. That is to say, the support arm 123 is mechanically connected to the operating bed system 200 through the support unlocking mechanism 110. At the same time, the support unlocking mechanism 110 can receive an unlocking signal and realize the disconnection between the support arm 123 and the operating bed system 200 when receiving the unlocking signal. The support unlocking mechanism 110 is not specifically limited in this application as long as it can achieve its function.

[0065] The acceleration sensor 130 is installed on the operating bed system 200 and is used to detect the acceleration data of the operating bed system 200. The model, size, specific installation position of the acceleration sensor 130, and the connection method with the operating bed system 200 are not limited in this application. Optionally, the acceleration sensor 130 is installed on the bed board (not labeled) of the operating bed system 200. Preferably, the acceleration sensor 130 can be installed in the central area of the bed board to provide a better detection effect. Further, the acceleration sensor 130 can be installed on the lower surface of the bed board of the operating bed system 200, and the acceleration sensor 130 is detachably connected to the bed board. For example, it can be arranged at different parts of the bed board through magnetic attraction, Velcro, suction cup structure, etc. This part can be the bed board area adjacent to the patient's surgical site, or this part can be the combined area of the bed board and the support structure (not labeled) of the bed board; or this part can be located on the support structure of the bed board. Optionally, the surgical assistance robot system 100 provided in the embodiments of this application can include two or more acceleration sensors 130, which are respectively arranged at the above different parts, so as to obtain accidental information such as collapse and tilt of the operating bed system 200 more comprehensively, quickly, and reliably.

[0066] Both the acceleration sensor 130 and the support unlocking mechanism 110 can be communicatively connected to the control device 124 through the robot body 121. The acceleration data collected by the acceleration sensor 130 is transmitted to the control device 124, and the control device 124 can determine whether the operating bed system 200 is in a safe state according to the acceleration data. When the operating bed system 200 is not in a safe state (such as the operating bed system 200 collapses or tilts, etc.), the control device 124 sends an unlocking signal to the support unlocking mechanism 110. After receiving the unlocking signal, the support unlocking mechanism 110 drives the support arm 123 to disengage from the operating bed system 200, so that the traction force of the support arm 123 on the patient's surgical site is no longer present, thereby ensuring the safety of the patient.

[0067] The principle of determining whether the operating bed system 200 is in a safe state through the acceleration data is as follows:

[0068] Let the pose matrix of the operating bed system 200 be:

[0069]

[0070] where p = (p x p y p z)' represents the position of the operating table system 200. If p changes, it indicates that the state of the operating table system 200 has changed. Further analysis shows that the change in position is caused by the change in speed, that is, the change in position p is caused by speed caused, and speed change is caused by acceleration caused. Therefore, the change in the operating table system 200 can be represented by the change in the acceleration of the operating table system 200. The acceleration sensor 130 installed on the operating table system 200 can collect the acceleration data of the operating table system 200. When the operating table system 200 is in a stationary state, the acceleration collected by it is When the operating table system 200 collapses, the acceleration of the operating table system 200 will mutate. At this time, the acceleration collected by the acceleration sensor 130 is In summary, the acceleration data collected by the acceleration sensor 130 can be used to determine the change in the state of the operating table system 200 and determine whether the operating table system 200 is in a safe state, etc.

[0071] It should be noted that the specific structure of the control device 124 is not limited as long as its function can be realized. The control device 124 determines the safe state of the operating table system 200 according to the acceleration data and sends the unlocking signal to the support unlocking mechanism 110. This process can be realized by a hardware structure, can also be realized by a software program, or can be realized by a combination of software methods and hardware structures. Optionally, the control device 124 can be a device including a DSP, a single-chip microcomputer or other various types of microprocessors, etc.

[0072] In this embodiment, the surgical assistance robot system 100 includes the surgical assistance robot 120, the support unlocking mechanism 110, and the acceleration sensor 130. The support unlocking mechanism 110 can realize the separation of the support arm 123 of the surgical assistance robot 120 from the operating bed system 200. Among them, the acceleration sensor 130 can collect the acceleration data of the operating bed system 200 and transmit it to the control device 124, so that the control device 124 can further analyze and send the unlocking signal to the support unlocking structure when needed to realize the separation of the surgical assistance robot 120 from the operating bed system 200. The surgical assistance robot system 100 provided by the embodiment of the present application can realize the separation of the operating bed system 200 from the surgical assistance robot 120 when the operating bed system 200 collapses or tilts, etc., ensuring the personal safety of the patient. At the same time, compared with directly detecting parameters such as position, the acceleration sensor 130 has a faster response speed, so it can more timely and accurately detect the state change of the operating bed system 200. In addition, through the cooperation of the acceleration sensor 130, the support unlocking mechanism 110, and the control device 124, the separation of the operating bed system 200 from the surgical assistance robot 120 is automatically realized, with higher intelligence, and more accurate and timely.

[0073] It can be understood that the control device 124 can further control the support unlocking mechanism 110 to lock the support arm 123 to the operating bed system 200. In one embodiment, the control device 124 is further configured to send a locking signal to the support unlocking mechanism 110. The support unlocking mechanism 110 can receive the locking signal and drive to lock the support arm 123 to the operating bed system 200 after receiving the locking signal. The locking signal can be obtained by the control device 124 based on the acceleration data analysis, or can be input by the user through the input interface or control button of the control device 124, etc. This embodiment does not limit this. The locking of the support arm 123 to the operating bed system 200 by the support unlocking mechanism 110 increases the stability of the operating bed system 200, prevents the relative displacement between the operating bed system 200 and the surgical assistance robot 120 during the operation, and ensures the accuracy during the operation.

[0074] Please refer to Figure 2, in one embodiment, the operating table system 200 includes an operating table 210 and an operating support 220. The operating table 210 is used to support a patient. The bed board of the operating table 210 includes opposite front and back surfaces, where the surface in contact with the patient's body is the front surface, and the surface opposite to the front surface is the back surface. The operating support 220 is used to fix the surgical site of the patient. As needed, the operating support 220 can be disposed at any part of the operating table 210, and the shape and structure of the operating support 220 can be different according to different surgical sites. Figure 2 Shown therein is a possible structure and connection manner of the operating support 220 when the surgical site is the head 300. The operating support 220 is disposed at one end of the hospital bed and is mechanically connected to the support unlocking mechanism 110. The patient lies on the operating table 210, and the patient's head 300 is placed on the operating support 220, and the operating support 220 holds and fixes the patient's head 300. Further, the operating support 220 includes a headrest 221 and a support rod 222 connected to the headrest 221. The support rod is connected to the operating table 210 and is connected to the support unlocking mechanism 110. The support rod 222 is used to reliably support the headrest 221 on the operating table 210.

[0075] In one embodiment, the acceleration sensor 130 is disposed at one end of the operating table 210 close to the operating support 220. That is to say, the acceleration sensor 130 is disposed close to the surgical site of the patient. Since the most dangerous part is the surgical site of the patient when the operating table system 200 collapses or tilts. Disposing the acceleration sensor 130 at one end of the operating table 210 close to the operating support 220 can more accurately detect the state change of the operating table 210 corresponding to the surgical site of the patient, thereby improving the accuracy of the unlocking signal sent by the control device 124, and further improving the unlocking accuracy of the support unlocking mechanism 110, and further ensuring the safety of the patient.

[0076] In one embodiment, the acceleration sensor 130 is disposed on the back surface of the operating table 210, which can not only avoid the acceleration sensor 130 affecting the use of the operating table 210, but also avoid the influence of the patient and surrounding objects on the accuracy of the acceleration sensor 130 during use.

[0077] In one embodiment, the acceleration sensor 130 is fixed to the operating table 210 through an insulating connector. The insulating connector refers to a non-conductive connector, such as an insulating screw, etc. This can improve the measurement accuracy of the acceleration sensor 130. Further, thread glue can also be applied to the insulating screw to ensure firm and reliable connection. In some other embodiments, the acceleration sensor 130 can also be adhesively bonded to the back of the operating table 210.

[0078] The number of the acceleration sensors 130 can be one or multiple. In one embodiment, the number of the acceleration sensors 130 is at least two (i.e., multiple). Among at least two acceleration sensors 130, at least one is disposed at one end of the operating table 210 close to the operation bracket 220, and at least one is disposed at one end of the operating table 210 away from the operation bracket 220. Continuing with Figure 2 the surgical assistant robot system 100 shown as an example, assuming the number of the acceleration sensors 130 is two, then one is installed at Figure 2 the bottom of the left end of the operating table 210 in the shown direction (i.e., the bottom of the end where the operation bracket 220 is disposed), and the other is disposed at the right end of the operating table 210. The control device 124 processes the acceleration data collected by multiple acceleration sensors 130 to determine whether the operating table system 200 is in a safe state. If the operating table system 200 is in a non-safe state, an unlocking signal is sent to the support unlocking mechanism 110. Multiple acceleration sensors 130 disposed at different positions on the operating table 210 can further improve the accuracy of detecting the acceleration condition of the operating table 210.

[0079] The support unlocking mechanism 110 is further described below with reference to embodiments:

[0080] Please refer to Figure 2 and Figure 3, in one embodiment, the support unlocking mechanism 110 includes a rotary driving member 111, a first connection assembly 112, and a second connection assembly 113. The first connection assembly 112 is connected to the operating bed system 200. The second connection member and the rotary driving member 111 are both disposed on the support arm 123. The first connection assembly 112 is detachably connected to the second connection assembly 113. The rotary driving member 111 is drivingly connected to the second connection assembly 113. The rotary driving member 111 is capable of receiving the unlocking signal to output power, so as to drive the second connection assembly 113 to move away from the first connection assembly 112. In one embodiment, the rotary driving member 111 is also capable of receiving the locking signal to output power, so as to drive the first connection assembly 112 to be connected to the second connection assembly 113.

[0081] Continuing to take the head 300 as the surgical site as an example, the operating bed system 200 is as Figure 2 shown: The rotary driving member 111 is the power source of the support unlocking mechanism 110 to drive the support unlocking mechanism 110 to move, so that the support arm 123 can be locked to or unlocked from the headrest 221. When the support unlocking mechanism 110 locks the support arm 123 to the headrest 221, the position of the headrest 221 is fixed, and the headrest 221 is reliably supported by the support arm 123 to ensure the surgical accuracy. Moreover, the rotary driving member 111 is communicatively connected to the control device 124 through the robot body 121, and the control device 124 can transmit an unlocking signal or a locking signal to the rotary driving member 111. When the rotary driving member 111 receives the locking signal or the unlocking signal, the rotary driving member 111 can output a rotational motion to drive the second connection assembly 113 to move, so that the second connection assembly 113 is connected to or separated from the first connection assembly 112.

[0082] One end of the first connection component 112 is connected to the bottom of the headrest 221. When the surgical assistance robot system 100 performs a surgery, the support arm 123 first drives the rotation driving member 111 and the second connection component 113 to gradually move towards the first connection component 112. After the second connection component 113 is aligned with the first connection component 112, the rotation driving member 111 receives a locking signal, and the rotation driving member 111 drives the second connection component 113 to be connected to the first connection component 112 and locks the second connection component 113 and the first connection component 112. At this time, the support arm 123 can support the headrest 221 through the second connection component 113 and the first connection component 112, so that the position of the patient's head 300 is relatively fixed, facilitating the surgical assistance robot system 100 to obtain the position of the patient's head 300 and ensuring the surgical precision. When the surgery is completed or when an unexpected situation occurs to the operating bed 210 and it is necessary to move the second connection component 113 away, the rotation driving member 111 receives the unlocking signal, and the rotation driving member 111 rotates and can drive the second connection component 113 to move, so that the second connection component 113 disengages from the first connection component 112.

[0083] In one embodiment, the rotation driving member 111 includes, but is not limited to, a high-speed and high-torque motor or a pneumatically rotated motor, etc., and can also be any rotation actuator capable of outputting a rotational motion.

[0084] Please continue to refer to Figure 3 , in one embodiment, the second connection component 113 includes a rotating threaded member 1131. The rotating threaded member 1131 is connected to the output end of the rotation driving member 111. The rotating threaded member 1131 can be connected to or disengaged from the first connection component 112 under the drive of the rotation driving member 111. One end of the rotating threaded member 1131 is connected to the output end of the rotation driving member 111, and the other end of the rotating threaded member 1131 can be moved into or out of the first connection component 112. Specifically, when the rotation driving member 111 drives the rotating threaded member 1131 to rotate, the rotating threaded member 1131 is threadedly connected to the first connection component 112. At this time, the rotating threaded member 1131 can be screwed into or out of the first connection component 112.

[0085] When the rotation driving member 111 drives the rotation threaded member 1131 to be screwed into the first connection assembly 112, a connection is established between the support arm 123 and the headrest 221, so as to reliably support the headrest 221 through the support arm 123. When the rotation driving member 111 drives the rotation threaded member 1131 to be screwed out of the first connection assembly 112, the support arm 123 no longer supports the headrest 221, and the headrest 221 can move with the operating table 210. Exemplarily, the rotation threaded member 1131 is a bolt.

[0086] In one embodiment, the first connection assembly 112 includes a first connection block 1121 and a connection arm 1122. The connection arm 1122 is fixedly connected to the surgical support 220. The first connection block 1121 is connected to the connection arm 1122. The first connection block 1121 has a threaded hole for connecting the rotation threaded member 1131. One end of the connection arm 1122 is connected to the bottom of the headrest 221, and the other end of the connection arm 1122 is connected to the first connection block 1121. When the rotation driving member 111 drives the rotation threaded member 1131 to rotate, the rotation threaded member 1131 can be screwed and engaged with the threaded hole, so that the rotation threaded member 1131 can reliably connect the first connection block 1121, thereby ensuring that the support arm 123 can reliably support the headrest 221.

[0087] In one embodiment, the connection arm 1122 is fixedly connected to the bottom of the headrest 221 to prevent the first connection assembly 112 from detaching from the headrest 221 and ensure that the support arm 123 can reliably support the headrest 221. In one embodiment, the first connection block 1121 and the connection arm 1122 are of an integral structure, which can not only save the assembly time, but also ensure that the first connection assembly 112 can reliably connect the second connection assembly 113 and the headrest 221.

[0088] In one embodiment, the second connection component 113 further includes a second connection block 1132 through which the rotary threaded member 1131 can pass. The rotary threaded member 1131 passes through the second connection block 1132 and is detachably connected to the first connection block 1121. The bottom of the second connection block 1132 is fixed to the support arm 123. The second connection block 1132 has a through hole for the rotary threaded member 1131 to pass through. The rotary threaded member 1131 can extend out through the through hole of the second connection block 1132 and then be screwed into or out of the first connection block 1121. The second connection block 1132 can support the rotary threaded member 1131, improve the rigidity of the rotary threaded member 1131, and ensure reliable support for the headrest 221. At the same time, the second connection block 1132 can also limit the crosstalk of the rotary threaded member 1131 and ensure reliable connection between the rotary threaded member 1131 and the first connection block 1121.

[0089] Please refer to Figure 4 , in one embodiment, the end face of the first connection block 1121 has a first tooth portion 11211, and the end face of the second connection block 1132 has a second tooth portion 11321 that mates with the first tooth portion 11211. When the first tooth portion 11211 meshes with the second tooth portion 11321, the relative crosstalk between the second connection block 1132 and the first connection block 1121 can be restricted. The surface of the first connection block 1121 facing the second connection block 1132 has a first tooth portion 11211, and the surface of the second connection block 1132 facing the first connection block 1121 has a first tooth portion 11211. After the second connection block 1132 and the first connection block 1121 are opposed to each other, the rotary drive member 111 can drive the rotary threaded member 1131 to rotate and screw into the threaded hole of the second connection block 1132. When the rotary threaded member 1131 rotates to the limit position, the second tooth portion 11321 meshes with the first tooth portion 11211. At this time, the rotary threaded member 1131 connects and locks the support arm 123 and the headrest 221. When the operating bed 210 collapses, the rotary drive member 111 drives the rotary threaded member 1131 to rotate to gradually screw out of the second connection block 1132. At the same time, the second tooth portion 11321 gradually disengages from the first tooth portion 11211.

[0090] After the second connection block 1132 and the first connection block 1121 are fixed by meshing the second tooth portion 11321 with the first tooth portion 11211, the rigidity of the connection part can be ensured. At the same time, the rotation of the rotary threaded member 1131 is restricted, avoiding loosening after fixation, and ensuring reliable support of the support arm 123 for the headrest 221.

[0091] In one embodiment, the support unlocking mechanism 110 further includes a coupling assembly 114. The coupling assembly 114 connects the output end of the rotary driving member 111 to the rotary threaded member 1131. The rotary driving member 111 can drive the rotary threaded member 1131 to rotate and move through the coupling assembly 114. The coupling assembly 114 is used to connect the rotary driving member 111 and the rotary threaded member 1131, so that the rotary driving member 111 can reliably drive the rotary threaded member 1131 to rotate.

[0092] In one embodiment, the coupling assembly 114 includes a coupling 1141 connected to the output end of the rotary driving member 111 and a connecting member 1142 connected to the coupling 1141. The connecting member 1142 can also be connected to the rotary driving member 111 to drive the rotary driving member 111 to rotate and move. The coupling 1141 is installed at the extending end of the rotary driving member 111 and is connected to the connecting member 1142. The other end of the connecting member 1142 is connected to the end of the rotary threaded member 1131. When the rotary driving member 111 rotates, it can drive the coupling 1141 to rotate synchronously. Further, the coupling 1141 drives the rotary threaded member 1131 to rotate synchronously through the connecting member 1142, so that the rotary threaded member 1131 can be screwed into or out of the second connecting block 1132 by rotational movement.

[0093] In one embodiment, the support unlocking mechanism 110 further includes a guiding assembly 115. The guiding assembly 115 is disposed between the rotary driving member 111 and the support arm 123 and is used to guide the movement of the rotary driving member 111 driving the rotary threaded member 1131. It can be understood that when the rotary threaded member 1131 rotates, it can be screwed into or out of the second connecting block 1132. During this process, the rotary threaded member 1131 will generate a displacement in the axial direction. Further, the rotary threaded member 1131 will drive the rotary driving member 111 to generate a displacement in the axial direction. In this embodiment, the guiding assembly 115 is disposed between the rotary driving member 111 and the support arm 123 in the support unlocking mechanism 110. Through the guiding assembly 115, the rotary driving member 111 outputs a rotational motion and can move along with the rotary threaded member 1131, avoiding interference between the rotary driving member 111 and the support arm 123. At the same time, the guiding assembly 115 can also guide the movement of the rotary driving member 111 to ensure that the movement of the rotary driving member 111 is accurate and reliable and avoid crosstalk.

[0094] In one embodiment, the guiding assembly 115 includes a first guiding member 1151 and a second guiding member 1152 that cooperates with the first guiding member 1151. The first guiding member 1151 is disposed on the support arm 123, and the second guiding member 1152 is disposed on the rotary driving member 111. The rotary driving member 111 can slide along the first guiding member 1151 through the second guiding member 1152. When the rotary driving member 111 outputs a rotational motion to drive the rotary threaded member 1131 to screw into or out of the second connecting block 1132, the rotary threaded member 1131 will drive the rotary driving member 111 to move forward or backward. Moreover, when the rotary driving member 111 moves forward or backward, it slides along the first guiding member 1151 through the second guiding member 1152, so that the moving direction of the rotary driving member 111 is accurate. At the same time, interference between the rotary driving member 111 and the support arm 123 is also avoided.

[0095] In one embodiment, the first guiding member 1151 is a slide rail or a chute, and the second guiding member 1152 is a slider. Exemplarily, the first guiding member 1151 is a slide rail, and the second guiding member 1152 is a slider, and the slider can slide along the slide rail.

[0096] Please refer to Figure 1 , and an embodiment of the present application further provides a surgical device. The surgical device includes the surgical assistance robot system 100 and the operating table system 200 as described in any of the above embodiments. The acceleration sensor 130 of the surgical assistance robot system 100 is disposed on the operating table system 200.

[0097] Since the surgical device includes the surgical assistance robot system 100, it has all the beneficial effects of the surgical assistance robot system 100, which will not be elaborated here.

[0098] An embodiment of the present application further provides a method for unlocking a support arm of a surgical assistance robot. The method can be applied to the surgical device as Figure 1 shown, specifically, it can be applied to the control device in the surgical assistance robot system. The control device can be a computer device, and the computer device can be but is not limited to various personal computers, laptop computers, smart phones, tablet computers, and portable wearable devices. The computer device includes a memory and a processor. The memory can store data and computer programs, and the processor can execute the computer programs to implement the method for unlocking a support arm of a surgical assistance robot provided by the embodiments of the present application. The method for unlocking a support arm of a surgical assistance robot will be further described in detail below with reference to specific embodiments.

[0099] Please refer to Figure 5, in one embodiment, the method for unlocking the support arm of the surgical assistance robot includes:

[0100] S10. Obtain acceleration data.

[0101] The acceleration data is used to characterize the acceleration condition of the operating bed system. The acceleration data can be collected by the acceleration sensor and transmitted to the control device, and the control device can process the data collected by the acceleration sensor to obtain the acceleration data. The acceleration data can be the acceleration value in any one of the three directions of the x, y, and z axes, or the combination of the acceleration values in any two or three of the three directions, or a value obtained by processing the acceleration data in the three directions.

[0102] S20. Determine whether the operating bed system is in a safe state according to the acceleration data.

[0103] The control device determines whether the operating bed system is safe according to the acceleration data. The judgment principle is that if the acceleration data meets the preset conditions, the operating bed system is in a safe state. If the acceleration data does not meet the preset conditions, the operating bed system is in an unsafe state, that is, there are dangers in the operating bed system, which may include, but are not limited to, the collapse, tilt, or rollover of the operating bed system, etc.

[0104] S30. If the operating bed system is in an unsafe state, send an unlocking signal to the support unlocking mechanism, and the unlocking signal is used for the support unlocking mechanism to separate the support arm from the operating bed system.

[0105] If it is determined that the operating bed system is in an unsafe state, the control device sends an unlocking signal to the support unlocking mechanism through the robot body. After receiving the unlocking signal, the support unlocking mechanism separates the support arm from the operating bed system. For the method and principle of the support unlocking mechanism to separate the support arm from the operating bed system, refer to the above embodiment and will not be elaborated here.

[0106] In this embodiment, by obtaining the acceleration data and determining whether the operating bed system is in a safe state according to the acceleration data, if not, an unlocking signal is sent to the support unlocking mechanism. The method provided in this embodiment can separate the support arm from the operating bed system when the operating bed system collapses, tilts, or other unexpected situations occur, ensuring the personal safety of the patient. And by real-time monitoring and analyzing the acceleration data, the separation of the operating bed system from the surgical assistance robot is automatically realized, with high intelligence, and more accurate and timely.

[0107] Please continue to refer to Figure 5 , the method may further include:

[0108] S40. If the operating table system is in a safe state, determine whether the operating table system is in a stable state according to the acceleration data;

[0109] S50. If the operating table system is in an unstable state, output an alarm message.

[0110] If the operating table system is in a safe state, then the control device further determines whether the operating table system is stable according to the acceleration data, that is, determines whether there are risks such as collapse or tilt of the operating table system. If the operating table system is relatively stable, that is, the operating table system is in a stable state, the operation continues. If the operating table system is in an unstable state, the control device outputs an alarm message. The alarm message is used to prompt the user that the current operating table system is unstable, there are risks, and the operation needs to be paused. The alarm message includes at least one of a voice alarm message, an image alarm message, and a photoelectric alarm message. It can be understood that while outputting the alarm message, the control device can further control the robotic arm to stop working, or control other operations of the surgical assistant robot to pause, so as to effectively prompt the user and prevent accidents.

[0111] In this embodiment, when the operating table system is in a safe state, it is further determined whether the operating table system is in a stable state according to the acceleration data. If not, an alarm message is output, thereby further improving the safety of the operation and having high intelligence.

[0112] Please refer to Figure 6 , a possible implementation manner of step S20 in this embodiment for determining whether the operating table system is in a safe state according to the acceleration data, S20 includes:

[0113] S210. If the acceleration data is greater than or equal to the first threshold, determine that the operating table system is in a non-safe state;

[0114] S220. If the acceleration data is less than the first threshold, determine that the operating table system is in a non-safe state.

[0115] The first threshold can be set according to the structure and weight of the operating table system, the installation position of the acceleration sensor, etc. In some embodiments, the first threshold can be 0.5g, 0.1g, 0.01g, etc. or can be a range, where g is the acceleration due to gravity. If the acceleration data is greater than or equal to the first threshold, it indicates that the current acceleration of the operating table system is too large, the movement speed is relatively high, and the position state has changed significantly, and there may be accidental situations such as collapse or tilt. Otherwise, it indicates that the operating table system is in a safe state.

[0116] Please continue to refer to Figure 6 , in one embodiment, S40 includes:

[0117] S410, if the acceleration data is greater than or equal to a second threshold, it is determined that the operating table system is in an unstable state, where the second threshold is less than the first threshold;

[0118] S420, if the acceleration data is less than the second threshold, it is determined that the operating table system is in a stable state.

[0119] The second threshold can be set according to the structure and weight of the operating table system, the installation position of the acceleration sensor, and the specific value of the first threshold, etc. In some embodiments, the first threshold can be 0.05g, 0.01g, etc. or can be a range, where g is the acceleration due to gravity, and the second threshold is less than the first threshold. If the acceleration data is greater than or equal to the first threshold, it is determined that the operating table system is in a non-safe state; if the acceleration data is less than the first threshold and greater than or equal to the second threshold, it is determined that the operating table system is in an unstable state; if the acceleration data is less than the second threshold, it is determined that the operating table system is in a stable state.

[0120] It should be noted that both the first threshold and the second threshold can be set according to actual needs or according to experimental data analysis. If the acceleration data is different, the first threshold can be different. The following will be described separately:

[0121] In one embodiment, the acceleration data is the acceleration value in the y-axis direction, defined as the vertical acceleration data. Correspondingly, the first threshold and the second threshold can be the first vertical threshold and the second vertical threshold respectively. The first vertical threshold is greater than the second vertical threshold. If the acceleration data (i.e., the vertical acceleration data) is greater than or equal to the first vertical threshold, it is determined that the operating table system is in an unsafe state; if the acceleration data is less than the first vertical threshold and greater than or equal to the second vertical threshold, it is determined that the operating table system is in an unstable state; if the acceleration data is less than or equal to the second vertical threshold, it is determined that the operating table system is in a stable state.

[0122] Similarly, in one embodiment, the acceleration data is the acceleration value in the x-axis direction, defined as the horizontal acceleration data. Correspondingly, the first threshold and the second threshold can be the first horizontal threshold and the second horizontal threshold respectively. The method for judging the safety state and the stable state of the operating table system is the same as above and will not be elaborated.

[0123] Similarly, in one embodiment, the acceleration data is the acceleration value in the z-axis direction, defined as the front-back acceleration data. Correspondingly, the first threshold and the second threshold can be the first front-back threshold and the second front-back threshold respectively. The method for judging the safety state and the stable state of the operating table system is the same as above and will not be elaborated.

[0124] In another embodiment, the acceleration data includes at least one of the vertical acceleration data, the horizontal acceleration data, and the front-back acceleration data. S20 includes:

[0125] If the acceleration data satisfies at least one of the following three conditions: the vertical acceleration data is greater than or equal to the first vertical threshold, the horizontal acceleration data is greater than or equal to the first horizontal threshold, or the front-back acceleration data is greater than or equal to the first front-back threshold, it is determined that the operating table system is in an unsafe state.

[0126] S40 includes:

[0127] If the acceleration data satisfies at least one of the following three conditions: the vertical acceleration data is greater than or equal to the second vertical threshold, the horizontal acceleration data is greater than or equal to the second horizontal threshold, or the front-back acceleration data is greater than or equal to the second front-back threshold, it is determined that the operating table system is in an unstable state.

[0128] That is to say, it can be determined respectively through a variety of acceleration data. If the result determined by at least one piece of data is that the operating bed system is in a non-safe state, then it is determined that the operating bed system is in a non-safe state; when the operating bed system is in a safe state, further judgment is made. If the result determined by at least one piece of data is that the operating bed system is in a safe state, then it is determined that the operating bed system is in an unstable state.

[0129] Please refer to Figure 7 , in one embodiment, step S10 of obtaining acceleration data can be implemented through the following steps:

[0130] S110, obtain the original acceleration data;

[0131] S120, perform denoising processing on the original acceleration data to obtain the acceleration data.

[0132] The original acceleration data refers to the acceleration data collected by the acceleration sensor without being processed. Performing denoising processing on the original acceleration data can effectively filter out the noise in the data, making the data more accurate, so that the determined state of the operating bed system is more accurate. The denoising processing includes but is not limited to filtering through a low-pass filter. Since the original acceleration data collected by the acceleration sensor contains a lot of high-frequency noise, therefore, filtering through a low-pass filter can filter out these high-frequency noises and improve the accuracy of the acceleration data.

[0133] It should be understood that although the steps in the above flowcharts are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential either, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0134] Please refer to Figure 8 , an embodiment of the present application further provides a support arm unlocking device 10 for a surgical assistant robot, which is used to realize the detachment of the support arm of the surgical assistant robot system from the operating bed system. The surgical assistant robot system includes a support arm unlocking device. The support arm unlocking device 10 for a surgical assistant robot includes a data acquisition module 101, a safety state determination module 102, and an unlocking module 103, where:

[0135] The data acquisition module 101 is configured to acquire acceleration data;

[0136] The safety state determination module 102 is configured to determine whether the operating table system is in a safe state according to the acceleration data;

[0137] The unlocking module 103 is configured to, if the operating table system is in an unsafe state, send an unlocking signal to the support unlocking mechanism, and the unlocking signal is used for the support unlocking mechanism to separate the support arm from the operating table system.

[0138] In one embodiment, the state determination module 102 is specifically configured to determine that the operating table system is in an unsafe state if the acceleration data is greater than or equal to a first threshold.

[0139] In one embodiment, the safety state determination module 103 is further configured to determine that the operating table system is in a safe state if the acceleration data is less than the first threshold.

[0140] Please continue to refer to Figure 8 , in one embodiment, the operating table system support arm unlocking device 10 further includes a stable state determination module 104, configured to, if the operating table system is in a safe state, determine whether the operating table system is in a stable state according to the acceleration data; if the operating table system is in an unstable state, output an alarm message.

[0141] In one embodiment, the stable state determination module 104 is specifically configured to determine that the operating table system is in an unstable state if the acceleration data is greater than or equal to a second threshold, where the second threshold is less than the first threshold.

[0142] In one embodiment, the data acquisition module 101 is specifically configured to acquire raw acceleration data; perform denoising processing on the raw acceleration data to obtain the acceleration data.

[0143] For the specific limitations of the above-mentioned operating table system support arm unlocking device 10, reference may be made to the description of the operating table system support arm unlocking method in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned operating table system support arm unlocking device 10 can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0144] Please refer to Figure 9 , in one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 9As shown. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store source data, report data, etc. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it realizes a method for unlocking the support arm of a surgical assistance robot.

[0145] Those skilled in the art can understand that Figure 9 the structure shown in

[0146] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0147] Obtain acceleration data;

[0148] Determine whether the operating table system is in a safe state according to the acceleration data;

[0149] If the operating table system is in a non-safe state, send an unlocking signal to the support unlocking mechanism, and the unlocking signal is used for the support unlocking mechanism to separate the support arm from the operating table system.

[0150] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the acceleration data is greater than or equal to a first threshold, determine that the operating table system is in a non-safe state.

[0151] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the acceleration data is less than the first threshold, determine that the operating table system is in a safe state.

[0152] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the operating table system is in a safe state, determine whether the operating table system is in a stable state according to the acceleration data; if the operating table system is in an unstable state, output an alarm message.

[0153] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the acceleration data is greater than or equal to a second threshold, it is determined that the operating table system is in an unstable state, where the second threshold is less than the first threshold.

[0154] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Obtain the original acceleration data; perform denoising processing on the original acceleration data to obtain the acceleration data.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0156] Obtain acceleration data;

[0157] Determine whether the operating table system is in a safe state according to the acceleration data;

[0158] If the operating table system is in an unsafe state, send an unlocking signal to the support unlocking mechanism, and the unlocking signal is used for the support unlocking mechanism to separate the support arm from the operating table system.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: If the acceleration data is greater than or equal to a first threshold, it is determined that the operating table system is in an unsafe state.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: If the acceleration data is less than the first threshold, it is determined that the operating table system is in a safe state.

[0161] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: If the operating table system is in a safe state, determine whether the operating table system is in a stable state according to the acceleration data; if the operating table system is in an unstable state, output an alarm message.

[0162] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: If the acceleration data is greater than or equal to a second threshold, it is determined that the operating table system is in an unstable state, where the second threshold is less than the first threshold.

[0163] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: Obtain the original acceleration data; perform denoising processing on the original acceleration data to obtain the acceleration data.

[0164] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0165] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0166] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical assistance robot system, characterized in that, For cooperating with an operating table system to achieve assisted surgery, the surgical assistance robot system includes: A surgical assistance robot, which includes a support arm and a control device; A support unlocking mechanism, which is arranged on the support arm and is signal-connected to the control device. The support unlocking mechanism can receive an unlocking signal to achieve the separation of the support arm from the operating table system; An acceleration sensor, which is arranged on the operating table system and is used to detect the acceleration data of the operating table system; The control device is used to determine whether the operating table system is in a safe state according to the acceleration data. If the operating table system is in a non-safe state, the unlocking signal is sent to the support unlocking mechanism; The support unlocking mechanism includes: A first connection component, which is connected to the operating table system; A second connection component, which is arranged on the support arm and is connected to the first connection component; A rotation driving part, which is arranged on the support arm and is drivingly connected to the second connection component. The rotation driving part can receive the unlocking signal to output power to drive the second connection component to move away from the first connection component; A coupling component, which is connected to the rotation driving part and the second connection component. The rotation driving part can drive the second connection component to rotate through the coupling component; A guiding component, which is arranged on the rotation driving part and the support arm and is used to guide the movement of the rotation driving part driving the second connection component.

2. The surgical assistance robot system according to claim 1, characterized in that, The operating table system includes: An operating table, and the acceleration sensor is arranged on the operating table; An operating bracket, which is arranged on the operating table and is mechanically connected to the support unlocking mechanism and is used to fix the surgical part of the patient.

3. The surgical assistance robot system according to claim 2, characterized in that, The acceleration sensor is arranged at one end of the operating table close to the operating bracket.

4. A method for unlocking a support arm of a surgical assistance robot, characterized in that, For realizing the separation of the support arm of the surgical assistance robot system from the operating table system, the surgical assistance robot system includes a support unlocking mechanism. The method includes: Obtaining acceleration data; Determining whether the operating table system is in a safe state according to the acceleration data; If the operating table system is in a non-safe state, an unlocking signal is sent to the support unlocking mechanism, and the unlocking signal is used for the support unlocking mechanism to achieve the separation of the support arm from the operating table system.

5. The method according to claim 4, wherein The determining whether the operating table system is in a safe state according to the acceleration data includes: If the acceleration data is greater than or equal to a first threshold value, it is determined that the operating table system is in a non-safe state.

6. The method according to claim 5, wherein The method further includes: If the acceleration data is less than the first threshold value, it is determined that the operating table system is in a safe state.

7. The method according to claim 6, wherein The method further includes: If the operating table system is in a safe state, determining whether the operating table system is in a stable state according to the acceleration data; If the operating table system is in an unstable state, an alarm message is output.

8. The method according to claim 7, wherein The determining whether the operating table system is in a stable state according to the acceleration data includes: If the acceleration data is greater than or equal to a second threshold value, it is determined that the operating table system is in an unstable state, where the second threshold value is less than the first threshold value.

9. The method according to claim 4, characterized in that, The obtaining of the acceleration data includes: Obtaining the original acceleration data; Performing denoising processing on the original acceleration data to obtain the acceleration data.

10. A unlocking device for a surgical assistant robot support arm, characterized in that, For realizing the detachment of the support arm of the surgical assistance robot system from the operating table system, the surgical assistance robot system includes a support unlocking mechanism, and the surgical assistance robot support arm unlocking device includes: A data acquisition module, configured to acquire acceleration data; A safety state determination module, configured to determine whether the operating table system is in a safe state according to the acceleration data; An unlocking module, configured to send an unlocking signal to the support unlocking mechanism if the operating table system is in a non-safe state, and the unlocking signal is used for the support unlocking mechanism to realize the detachment of the support arm from the operating table system.

11. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 4 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 4 to 9 are implemented.

Images